cpMCDESPOT_residuals_SAH.c

/***************************************************************************
 * MEXFUNCTION res = cpMCDESPOT_residuals_SAH(fv, omega, phaseCycle, data, alpha, tr, model)
 *
 * CPU-BASED mcDESPOT OBJECTIVE FUNCTION (cpMCDESPOT)
 *
 * Inputs:
 *   fv = [T1m, T1f, T2m, T2f, MWF, Tau_m] --> [Np Matrix x 7] Parameter Vectors, where N=nParam (number of parameter trials)
 *
 *   omega                                 --> Off-resonance [Hz]
 *   phaseCycle                            --> SSFP RF Pulse Phase Cycling (-1 = fitting SPGR)
 *   data                                  --> [Np x 1] MRI Data, # of flip angles by 1  (NOTE: Divide out PD before fitting)
 *   alpha                                 --> [scalar] Flip angles (corrected /w B1err) in degrees
 *   tr                                    --> [scalar] TR times, in ms
 *   model                                 --> 0=Standard 2-pool w/o sqrt(exp(TR/T2)) correction, 1=Standard 2-pool /w correction, 2=(2+1) Pool Model
 *
 * Outputs:
 *   res                                   --> SOS Residual
 *
 * Based on Sean Deoni's mcDESPOT C-Code, with additions from John Ollinger for matrix exponential
 * Based on Deoni MRM 2012 Note on 3-Pool Model
 *
 * MATLAB COMPILE COMMAND (R2009b, GLNX): mex CFLAGS="\$CFLAGS -std=c99" -Dchar16_t=uint16_T -lm -lpthread cpMCDESPOT_residuals_SAH.c
 *
 * Samuel A. Hurley
 * University of Wisconsin
 * University of Oxford
 * v5.1 6-Jul-2015
 *
 * Changelog:
 *    v1.0 - initial code, based on gpMCDESPOT_residual
 *    v1.1 - added some debugging lines (Mar-2010)
 *    v2.0 - convert generalMatrixInverse to jxMatrixInverse (Jordan Exchange) method
 *    v3.0 - fitting explicit pd term for spgr and ssfp, based on v1.0 (Jun-2010)
 *    v3.1 - Implemented Double capabilities (Jul-2010)
 *    v4.0 - Implemented John Ollinger's Exact Matrix Inverse Solution,
 *           significant code cleanup (Nov-2010)
 *    v4.1 - Added a flag to turn on/off TE correction factor   (Apr-2011)
 *    v4.2 - Fixed parameter vectors getting loaded incorrectly
 *           Omega separated out into separate calibration scalar (Nov-2011)
 *    v4.3 - Adding multithreaded support (Dec-2011)
 *    v4.4 - Fixed p-threads bug if #of FV is not evenly divisible by NUM_THREADS (Feb-2012)
 *    v5.0 - Drastically re-structured code. Added support for 3-pool model. Now only computes
 *           a single residual at a time (based on ssfpPhase variable: -1 == SPGR) (Nov-2012)
 *    v5.1 - Fixed integer abs operation being called on floating point data. abs->fabs (Jul-2015)
 ***************************************************************************/

/* Includes MEX for Matlab and Lib MATH headers */
#include <mex.h>
#include <math.h>
#include <pthread.h>

// Program Header
#include "cpMCDESPOT_residuals_SAH.h"

// Debug Flag (Crashes PTHREAD Version)
// #define DEBUG_FLAG_X

// Number of multithreads
// #define NUM_THREADS 4

// Define maximum number of data points we can have,
// in order to use constant memory effectively
#define MAX_ALPHA 10

// Universal Constants
#define PI         3.14159265358979323846264338327950288419716939937510
#define DEG_TO_RAD 0.017453292519943 

// Basic Math Functions
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))

// ==== Structure For Multithreaded Computation ==== //
// Create Thread Structure
typedef struct {
  double **fv;
  double *res;
  int    start_idx;     // Starting value of i
  int    end_idx;       // Ending   value of i
} thread_arg;

// ==== Global variables (for data shared between all fv evaluations) ====
int    d_nAlpha[1];

double d_omega[1];
double d_phaseCycle[1];   // Note phase cycle is floating point
double d_data[MAX_ALPHA];
double d_alpha[MAX_ALPHA];
double d_tr[1];
double d_model[1];        // Changed from tefix to model

/* Main Function  ************************************************************/
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
  
  /**** 0. Variable Declrations **********************************/
  int i;
  int nParam, nAlpha;
  
  // Size of data vectors in memory
  size_t dataSize;
  
  // --- Host Data --- //
  // Parameter vector
  double **fv;
  double  *omega;
  double  *phaseCycle;
  
  // MR Data & Control Paramters (Defined as global vars above)
  double *data;
  double *alpha;
  
  double *tr;
  double *model;
  
  double *numThreads;
  
  // Residual solutions
  double *res;
  
  /* I. Error checking ****************************************************************/
  
  // Check for 8 inputs
  if (nrhs != 8)
    mexErrMsgTxt("Requires 8 inputs: [fv omega phaseCycle data alpha tr model numThreads]");
  
  // Check for 1 output
  if (nlhs != 1)
    mexErrMsgTxt("Requires one output [res]");
  
  // Check that input #1 is a [6 x N] matrix
  if (mxGetM(prhs[0]) != 6) {
    mexErrMsgTxt("First input (paramter vector) must be Nx6 (6 rows tall)");
  }
  
  // Check that all other inputs are Nx1 (single column)
  for (i=1; i<7; i++) {
   if (mxGetN(prhs[i]) > 1)
     mexErrMsgTxt("All inputs must be Nx1 (one column wide)");
  }
  
  // Grab nParam -- number of different paramter guesses
  nParam = mxGetN(prhs[0]);
  
  // Grab the number of SPGR/SSFP flip angles
  nAlpha = mxGetM(prhs[4]);
  
  // Check that the number of supplied flip angles matches the data
  if (mxGetM(prhs[3]) != nAlpha)
    mexErrMsgTxt("Number of supplied flip angles does not match number of data points");
  
  // Check that the TR's are scalars
  if (mxGetN(prhs[5]) !=1)
    mexErrMsgTxt("TR must be a scalar (in sec)");
  
  // Check that tefix is a scalar
  if (mxGetN(prhs[6]) !=1)
    mexErrMsgTxt("Model must be a scalar");
  
  // Check that num_threads is a scalar
  if (mxGetN(prhs[7]) !=1)
    mexErrMsgTxt("Number of threads must be a scalar");
  
  /* II. Load In Data *******************************************************/
  
  // Alloc Param Vector
  fv      = (double**) mxMalloc(sizeof(double*)*nParam);
  for (i=0; i<nParam; i++) {
    fv[i] = (double*)  mxMalloc(sizeof(double)*6);
  }

  // Alloc Output Vectors as mxDoubleMatrix
  plhs[0]          = mxCreateDoubleMatrix(0, 0, mxREAL);
  mxSetM(plhs[0],    nParam);
  mxSetN(plhs[0],    1);
  mxSetData(plhs[0], mxMalloc(sizeof(double)*nParam));

  // Grab pointers to output data
  res     = mxGetPr(plhs[0]);

  // Size of SPGR/SSFP Data
  dataSize = sizeof(double)*nAlpha;
  
  // Load in parameter data matrix
  load_mrhs(fv, 0, prhs);
  
  // Load MRI Data and Control Parameters
  omega         = mxGetPr(prhs[1]);
  phaseCycle    = mxGetPr(prhs[2]);
  data          = mxGetPr(prhs[3]);
  alpha         = mxGetPr(prhs[4]);
  tr            = mxGetPr(prhs[5]);
  model         = mxGetPr(prhs[6]);
  numThreads    = mxGetPr(prhs[7]);
  
  // Check Model
  if (!(model[0] == 0.0 || model[0] == 1.0 || model[0] == 2.0)) {
    mexErrMsgTxt("Error: model must be 0/1/2 (2-pool, 2-pool /w TE correction, 2+1 pool)");
  }
  
  // Check number of threads
  if (numThreads[0] <= 0.0) {
    mexErrMsgTxt("Error: number of threads must be 1 or greater)");
  }
  
  // Check Data Size
  if (dataSize > sizeof(double)*MAX_ALPHA) {
    mexErrMsgTxt("Error: This algorithm has a hard-coded limit of data points, and you used too many!\nDo not panic, the authorities are on their way...");
  }
  
  // Copy local variables into global variables (CUDA copy host->global device)
  d_omega[0]      = (double) omega[0];
  d_phaseCycle[0] = (double) phaseCycle[0]; 
  d_tr[0]         = (double) tr[0];
  d_model[0]      = (double) model[0];
  d_nAlpha[0]     = nAlpha;
  
  for (i=0; i<nAlpha; i++) {
    d_data[i]  = data[i];
    d_alpha[i] = alpha[i];
  }
  
  /* III. Compute Residuals *****************************************************/
  
  // Assign previously #defined number of threads
  int NUM_THREADS = (int) numThreads[0];
  
  // Number of threads for multithreading
  pthread_t  threads[NUM_THREADS];
  thread_arg targ[NUM_THREADS];
  
  // Determine the chunk size
  int chunkSize = nParam / NUM_THREADS;
  
  #ifdef DEBUG_FLAG_X
    mexPrintf("Num Thread: %d \n", NUM_THREADS);
    mexPrintf("Num Fevals: %d \n", nParam);
    mexPrintf("Chunk Size: %d \n", chunkSize);
  #endif
  
  // Create all Threads
  for (i=0; i<NUM_THREADS; i++) {
    targ[i].fv        = fv;
    targ[i].res       = res;
    targ[i].start_idx = i*chunkSize;
    
    if (i == (NUM_THREADS-1)) {
      targ[i].end_idx = nParam;
    } else {
      targ[i].end_idx = (i+1)*chunkSize;
    }
    
    pthread_create(&threads[i], NULL, threadFunc, (void *) &targ[i]);
  }
  
  // Wait for all Threads
  for (i=0; i<NUM_THREADS; i++) {
    pthread_join(threads[i], NULL);
  }
  
  /* IV. Cleanup & Free Memory ************************************************/
  
  // Parameter vectors
  for (i=0; i<nParam; i++) {
    mxFree(fv[i]);
  }
  mxFree(fv);
  
} // </Main mexFunction>


/* CPU Functions  ***********************************************************/

/************ MultiThreading Support **************/
// Thread Function
void *threadFunc(void *arg) {
  thread_arg *targ = (thread_arg *) arg;
  double **fv      = targ->fv;
  double *res      = targ->res;

  for (int i=targ->start_idx; i<targ->end_idx; i++) {
    
    // If phaseCycle is (-1), compute SPGR
    if (d_phaseCycle[0] == -1) {
      #ifdef DEBUG_FLAG
        mexPrintf("Computing SPGR");
      #endif
      calcSPGR(fv[i], &res[i]);
    } else {
      #ifdef DEBUG_FLAG
        mexPrintf("Computing SSFP");
      #endif
      calcSSFP(fv[i], &res[i], d_phaseCycle[0]*DEG_TO_RAD);
    }
  }
  
  return NULL;
}

/************SPGR Signal Calculation**************/
void calcSPGR(double* d_fv, double* d_resSPGR) {
  
  #ifdef DEBUG_FLAG
    mexPrintf("== Entering calcSPGR ==\n");
  #endif
  
  // Grab the supplied parameters
	double T1m     = d_fv[0];
	double T1f     = d_fv[1];
	double MWF     = d_fv[4];
	double tau     = d_fv[5];
  
  #ifdef DEBUG_FLAG
    mexPrintf("SPGR | T1m: %0.3f | T1f: %0.3f |            |            | MWF: %0.3f | Tau: %0.3f | \n", T1m, T1f, MWF, tau);
  #endif
  
	// Compute the dependent parameters
	double Kmf     = 1.00/tau;
	double Kfm     = Kmf * MWF/(1-MWF);
  
  // Compute 2x2 exponential of A*TR
  double expATR[2][2];
  matrixExponential(d_tr[0], T1m, T1f, Kmf, Kfm, MWF, expATR);
  
  #ifdef DEBUG_FLAG
    mexPrintf("exp(A*TR) \n");
    debugPrint2by2(expATR);
  #endif

  // IminusExpATR = (I2 - exp(A*TR))
  double IminusExpATR[2][2];
  IminusExpATR[0][0] = 1 - expATR[0][0];
  IminusExpATR[1][0] = 0 - expATR[1][0];
  IminusExpATR[0][1] = 0 - expATR[0][1];
  IminusExpATR[1][1] = 1 - expATR[1][1];
  
  #ifdef DEBUG_FLAG
    mexPrintf("(I2 - exp(A*TR)) \n");
    debugPrint2by2(IminusExpATR);
  #endif
  
  // Product of IminusExpATR & M0
  double matrixProduct[2];
  matrixProduct[0] = IminusExpATR[0][0] * MWF + IminusExpATR[1][0] * (1 - MWF);
  matrixProduct[1] = IminusExpATR[0][1] * MWF + IminusExpATR[1][1] * (1 - MWF);
  
  #ifdef DEBUG_FLAG
    mexPrintf("(I2 - exp(A*TR))*M0 \n");
    debugPrint2by1(matrixProduct);
  #endif
  
  // The rest of the computations must be done over each flip angle
  // Preallocate additional variables to be re-used in each FA loop
  double sina, cosa, scalar;
  int flipAngle;
  
  double IminusExpATRcos[2][2];          // = (I2 - expm(A*TR)*cos(alpha)
  double IminusExpATRcosInv[2][2];       // = inv(I2 - expm(A*TR)*cos(alpha))
  double matrixProduct2[2];              // = inv(I2 - exp(A*TR)*cosa) * (I2 - exp(A*TR)) * M0 * sinalpha
  
  // Initalize sum-of-square residuals to zero.
  d_resSPGR[0] = 0.00;
  
  /******************Loop Over Each Flip Angle & Compute SPGR Signal*************/
	for (flipAngle=0; flipAngle<d_nAlpha[0]; flipAngle++) {
    
    // Pre-compute sin & cos, & convert DEG -> RAD
    sina = sin(d_alpha[flipAngle] * DEG_TO_RAD);
    cosa = cos(d_alpha[flipAngle] * DEG_TO_RAD);
    
    #ifdef DEBUG_FLAG
      mexPrintf("FlipAngle: %05f degrees \n", d_alpha[flipAngle]);
    #endif
    
    // (I2 - expm(A*TR)*cos(alpha))
    IminusExpATRcos[0][0] = 1 - expATR[0][0]*cosa;
    IminusExpATRcos[1][0] = 0 - expATR[1][0]*cosa;
    IminusExpATRcos[0][1] = 0 - expATR[0][1]*cosa;
    IminusExpATRcos[1][1] = 1 - expATR[1][1]*cosa;
    
    #ifdef DEBUG_FLAG
      mexPrintf("(I2 - expm(A*TR)*cos(alpha))\n");
      debugPrint2by2(IminusExpATRcos);
    #endif
    
    // inv(I2 - expm(A*TR)*cos(alpha))
    scalar = (1.00/ (IminusExpATRcos[0][0]*IminusExpATRcos[1][1] - IminusExpATRcos[1][0]*IminusExpATRcos[0][1]));
    
    IminusExpATRcosInv[0][0] = scalar * IminusExpATRcos[1][1];
    IminusExpATRcosInv[1][1] = scalar * IminusExpATRcos[0][0];
    IminusExpATRcosInv[1][0] = scalar * -1.00*IminusExpATRcos[1][0];
    IminusExpATRcosInv[0][1] = scalar * -1.00*IminusExpATRcos[0][1];
    
    #ifdef DEBUG_FLAG
      mexPrintf("inv(I2 - expm(A*TR)*cos(alpha))\n");
      debugPrint2by2(IminusExpATRcosInv);
    #endif
		
		// inv(I2 - exp(A*TR)*cosa) * (I2 - exp(A*TR)) * M0 * sinalpha
    matrixProduct2[0] = IminusExpATRcosInv[0][0] * matrixProduct[0] + IminusExpATRcosInv[1][0] * matrixProduct[1];
    matrixProduct2[1] = IminusExpATRcosInv[0][1] * matrixProduct[0] + IminusExpATRcosInv[1][1] * matrixProduct[1];
    
    matrixProduct2[0] = matrixProduct2[0] * sina;
    matrixProduct2[1] = matrixProduct2[1] * sina;
    
    #ifdef DEBUG_FLAG
      mexPrintf("inv(I2 - exp(A*TR)*cosa) * (I2 - exp(A*TR)) * M0 * sinalpha\n");
      debugPrint2by1(matrixProduct2);
    #endif
    
    // Finally, observed signal is just sum of matrixProduct2[0] and matrixProduct2[1]
    // Take difference from input MRI data, square, and add to SOS residual
    d_resSPGR[0] += ((matrixProduct2[0] + matrixProduct2[1]) - d_data[flipAngle]) * ((matrixProduct2[0] + matrixProduct2[1]) - d_data[flipAngle]);
    
	}// </LoopOverFA>
  
  #ifdef DEBUG_FLAG
    mexPrintf("SOS SPGR Residual: %05f\n", d_resSPGR[0]);
  #endif
  
}// </calcSPGR>


/***************SSFP Signal Calculation*************/
void calcSSFP(double* fv, double* d_resSSFP, double rfPulsePhase) {
  
  #ifdef DEBUG_FLAG
    mexPrintf("== Entering calcSSFP ==\n");
  #endif
  
  int i, j;
 
  // Grab Supplied Parameters
	double T1m   = fv[0];
	double T1f   = fv[1];
	double T2m   = fv[2];
	double T2f   = fv[3];
	double MWF   = fv[4];
	double tau   = fv[5];
  double Omega = d_omega[0]; // Hz
  
  #ifdef DEBUG_FLAG
    mexPrintf("SSFP | T1m: %0.3f | T1f: %0.3f | T2m: %0.3f | T2f: %0.3f | MWF: %0.3f | Tau: %0.3f | Omega: %0.3f | Chop: %0.3f \n", T1m, T1f, T2m, T2f, MWF, tau, Omega, rfPulsePhase);
  #endif
  
  // Compute the dependent parameters
	double Kmf     = 1.00/ tau;
	double Kfm     = Kmf * MWF/(1-MWF);
  
  // Compute Exponential of Aupper and Alower
  double expAupper[2][2];
  double expAlower[2][2];
  matrixExponential(d_tr[0], T2m, T2f, Kmf, Kfm, MWF, expAupper);
  matrixExponential(d_tr[0], T1m, T1f, Kmf, Kfm, MWF, expAlower);
  
  // Compute the exponential of W
  double expW[6][6];
  double beta = Omega*2*PI*d_tr[0] + rfPulsePhase;  //Units of radians, therefore convert Omega from Hz -> rad/s
  double sinb = sin(beta);
  double cosb = cos(beta);
  
  // Initalize expW to all zeros
  initZeros6by6(expW);
  
  // Fill in sin & cos terms
  expW[0][0] = cosb;
  expW[1][1] = cosb;
  expW[2][2] = cosb;
  expW[3][3] = cosb;
  expW[4][4] = 1.00;
  expW[5][5] = 1.00;
  
  expW[2][0] = -sinb;
  expW[3][1] = -sinb;
  expW[0][2] =  sinb;
  expW[1][3] =  sinb;
  
  #ifdef DEBUG_FLAG
    mexPrintf("expm(W)\n");
    debugPrint6by6(expW);
  #endif
  
  // Combine into a single exp(A*TR) matrix
  double expAcombined[6][6];
  initZeros6by6(expAcombined);

  expAcombined[0][0] = expAupper[0][0];
	expAcombined[1][0] = expAupper[1][0];
	expAcombined[0][1] = expAupper[0][1];
	expAcombined[1][1] = expAupper[1][1];
  
  expAcombined[2][2] = expAupper[0][0];
	expAcombined[3][2] = expAupper[1][0];
	expAcombined[2][3] = expAupper[0][1];
	expAcombined[3][3] = expAupper[1][1];
  
  expAcombined[4][4] = expAlower[0][0];
	expAcombined[5][4] = expAlower[1][0];
	expAcombined[4][5] = expAlower[0][1];
	expAcombined[5][5] = expAlower[1][1];
  
  #ifdef DEBUG_FLAG
    mexPrintf("expm(A_ssfp*tr_ssfp)\n");
    debugPrint6by6(expAcombined);
  #endif
  
  // Now multiply expAcombined & expW to get full exp((A+W)*TR) = exp(A*TR)*exp(W)
  double expATR[6][6];
  matrixMultiply6by6(expW, expAcombined, expATR);
  
  #ifdef DEBUG_FLAG
    mexPrintf("expm(A_ssfp*tr_ssfp)*expm(W)\n");
    debugPrint6by6(expATR);
  #endif
  
  // Compute (I - eATR)
  double IminusExpATR[6][6];
  
  for (i=0; i<6; i++) {
    for (j=0; j<6; j++) {
      if (i == j) {
        // Diagonals
        IminusExpATR[i][j] = 1.00 - expATR[i][j];        
      }
      else {
        // Off-Diagonals
        IminusExpATR[i][j] = 0.00 - expATR[i][j];
      } 
    }
  }
  
  #ifdef DEBUG_FLAG
    mexPrintf("(I6 - expm(A*TR)\n");
    debugPrint6by6(IminusExpATR);
  #endif
  
  // Generate M0 Vector.  Assume input data has PD normalized to 1
  double M0[6];
  M0[0] = 0.00;
  M0[1] = 0.00;
  M0[2] = 0.00;
  M0[3] = 0.00;
  M0[4] = MWF;
  M0[5] = (1-MWF);
  
  // Compute (I6 - eATR)*M0
  double matrixProduct[6];
  
  for (i=0; i<6; i++) {
    matrixProduct[i] = 0;
    for (j=0; j<6; j++) {
      matrixProduct[i] += IminusExpATR[j][i] * M0[j];
    }
  }
  
  #ifdef DEBUG_FLAG
    mexPrintf("(I6 - expm(A*TR))*M0 \n");
    debugPrint6by1(matrixProduct);
  #endif
  
  // The rest of the computations must be done over each flip angle
  // Preallocate additional variables to be re-used in each FA loop
  double sina, cosa, scalar;
  int flipAngle;
  
  double R[6][6];                        // = Rotation Matrix
  initZeros6by6(R);
  
  double expATRrot[6][6];                // =          expm(A*TR)*Rot(Alpha)
  double IminusExpATRrot[6][6];          // =     I6 - expm(A*TR)*Rot(alpha)
  double matrixProduct2[6];              // = inv(I6 - expm(A*TR)*Rot(alpha)) * (I6 - exp(A*TR)) * M0
  double signalSSFP;                     // Observed MRI Signal
  
  // Initalize sum-of-square residuals to zero.
  d_resSSFP[0] = 0;
  
  /******************Loop Over Each Flip Angle & Compute SSFP Signal*************/
	for (flipAngle=0; flipAngle<d_nAlpha[0]; flipAngle++) {
    
    // Pre-compute sin & cos, and convert DEG -> RAD
    sina = sin(d_alpha[flipAngle] * DEG_TO_RAD);
    cosa = cos(d_alpha[flipAngle] * DEG_TO_RAD);
    
    #ifdef DEBUG_FLAG
      mexPrintf("FlipAngle: %05f degrees \n", d_alpha[flipAngle]);
    #endif
    
    // Fill Out the R Rotation Matrix
    R[0][0] =  1.00;
    R[1][1] =  1.00;
    
    R[2][2] =  cosa;
    R[3][3] =  cosa;
    R[4][4] =  cosa;
    R[5][5] =  cosa;
    
    R[4][2] = -sina;
    R[5][3] = -sina;
    R[2][4] =  sina;
    R[3][5] =  sina;
    
    #ifdef DEBUG_FLAG
      mexPrintf("Rot(alpha) \n");
      debugPrint6by6(R);
    #endif
    
    // expm(A*TR)*Rot(Alpha)
    matrixMultiply6by6(expATR, R, expATRrot);
    
    #ifdef DEBUG_FLAG
      mexPrintf("expm(A*TR)*Rot(Alpha) \n");
      debugPrint6by6(expATRrot);
    #endif
    
    //(I6 - expm(A*TR)*Rot(alpha))
    for (i=0; i<6; i++) {
      for (j=0; j<6; j++) {
        if (i == j) {
          // Diagonals
          IminusExpATRrot[i][j] = 1.00 - expATRrot[i][j];        
        }
        else {
          // Off-Diagonals
          IminusExpATRrot[i][j] = 0.00 - expATRrot[i][j];
        } 
      }
    }
    
    #ifdef DEBUG_FLAG
      mexPrintf("(I6 - expm(A*TR)*Rot(alpha)) \n");
      debugPrint6by6(IminusExpATRrot);
    #endif
    
    // inv(I6 - expm(A*TR)*Rot(alpha)) * (I6 - exp(A*TR)) * M0
    matrixJXleastSquares6by6(IminusExpATRrot, matrixProduct, matrixProduct2);
    // matrixGeneralInverse6by6(IminusExpATRrot, matrixProduct, matrixProduct2);
    // matrixAnalyticalInverse6by6(IminusExpATRrot, matrixProduct, matrixProduct2);
    
    #ifdef DEBUG_FLAG
      mexPrintf("inv(I6 - expm(A*TR)*Rot(alpha)) * (I6 - exp(A*TR)) * M0 \n");
      debugPrint6by1(matrixProduct2);
    #endif
             
    if (d_model[0] == 0.0) {
      // Compute Observed Signal
      signalSSFP = sqrt(matrixProduct2[0]*matrixProduct2[0] + matrixProduct2[2]*matrixProduct2[2]) + sqrt(matrixProduct2[1]*matrixProduct2[1] + matrixProduct2[3]*matrixProduct2[3]);
      
    } else {
      // Multiply on an extra sqrt(E2) term to account for center-echo readout
      signalSSFP = sqrt(matrixProduct2[0]*matrixProduct2[0] + matrixProduct2[2]*matrixProduct2[2]) * sqrt(exp(d_tr[0]/T2m)) + sqrt(matrixProduct2[1]*matrixProduct2[1] + matrixProduct2[3]*matrixProduct2[3]) * sqrt(exp(d_tr[0]/T2f));
    }
    
    #ifdef DEBUG_FLAG
      mexPrintf("signalSSFP: %0.5f\n", signalSSFP);
    #endif
    
    // Finally, observed signal is just sum of matrixProduct2[0] and matrixProduct2[1]
    // Take difference from input MRI data, square, and add to SOS residual
    d_resSSFP[0] += (signalSSFP - d_data[flipAngle]) * (signalSSFP - d_data[flipAngle]);
    
	}// </LoopOverFA>
  
}// </calcSSFP>


/* Host Helper Functions  ****************************************************/

/* Load in data from prhs[i] matrix and convert to an matrix of doubles *******/
/* P. Mossahebi v1.0 12-Jul-2010 */
/* S. Hurley    v2.0 04-Nov-2011 */
void load_mrhs(double** output_double, int argin, const mxArray *prhs[])
{
  // Get a pointer to the double-floating point data
  double *input_double = mxGetPr(prhs[argin]);
  
  // Get the number of elements
  int nSize = mxGetN(prhs[argin]);
  int mSize = mxGetM(prhs[argin]);
  
  int i, j;
  for (i = 0; i < nSize; i++) {         // 1 -> nParam
    for(j = 0; j < mSize; j++) {        // 1 -> 6
      output_double[i][j] = input_double[(i*mSize)+j];
    }
  }
}

/* Custom 2x2 A matrix Exponential *********************************************
 * Thanks to John Ollinger
 * Outputs 2x2 solution for expm(A)
 */
void matrixExponential(double TR, double Tm, double Tf, double Kmf, double Kfm, double MWF, double A[][2])
{
  // Convert T1/T2 to R1/R2
  double Rm = 1/Tm;
  double Rf = 1/Tf;
  
  // Initalize the Output Matrix to All Zeros
  A[0][0] = 0.00;
  A[1][0] = 0.00;
  A[0][1] = 0.00;
  A[1][1] = 0.00;
  
  // Compute Sinh & Cosh
  
  double a = (-Rm-Kmf)*TR - (-Rf-Kfm)*TR;
  double b = 4*Kmf*Kmf*TR*TR * MWF/(1-MWF);
  
  double sqrt1 = sqrt(a*a + b);
  double sinh1 = sinh(0.5*sqrt1);
  double cosh1 = cosh(0.5*sqrt1);
  double exp1  = exp( ((-Rf-Kfm)*TR + (-Rm-Kmf)*TR) / 2.0);
  
  A[0][0] = exp1*( a*sinh1+sqrt1*cosh1) / sqrt1;
  A[1][0] = (2*Kfm*TR*exp1*sinh1)       / sqrt1;
  A[0][1] = (2*Kmf*TR*exp1*sinh1)       / sqrt1;
  A[1][1] = exp1*(-a*sinh1+sqrt1*cosh1) / sqrt1;
  
}
        
/* Initalize a 6x6 Matrix to all zeros *****************************************/
void initZeros6by6(double matrix[][6])
{
  int i, j;
  for (i=0; i<6; i++) {
    for (j=0; j<6; j++) {
      matrix[i][j] = 0;
    }
  }
}

/* Multiply a 6x6 Matrix*******************************************************/
/* Z = X*Y   Must be 6x6!! (Under Penalty of Death.  Or at least Seg Fault)   */
void matrixMultiply6by6(double X[][6], double Y[][6], double Z[][6])
{
  int i, j, k;
  
  for (i=0; i<6; i++) {
    for (j=0; j<6; j++) {
      Z[i][j] = 0.00;
      
      for (k=0; k<6; k++) {
        Z[i][j] += X[k][j] * Y[i][k];
      }
    }
  }
}

/* Compute Solution to X = inv(A)*B /w Analytical 6x6 Inverse *******************/
void matrixAnalyticalInverse6by6(double a[][6], double B[6], double X[6])
{
  double invA[6][6];
  double denom;
  int i,j;
  
  denom =   a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[4][4]*a[5][5] - a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[4][5]*a[5][4] - a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[4][3]*a[5][5] + a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[4][5]*a[5][3] + a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[4][3]*a[5][4] - a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[4][4]*a[5][3] - a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[4][4]*a[5][5] + a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[4][5]*a[5][4] + a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[4][2]*a[5][5] - a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[4][5]*a[5][2] - a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[4][2]*a[5][4] + a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[4][4]*a[5][2] + a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[4][3]*a[5][5] - a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[4][5]*a[5][3] - a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[4][2]*a[5][5] + a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[4][5]*a[5][2] + a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[4][2]*a[5][3] - a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[4][3]*a[5][2] - a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[4][3]*a[5][4] + a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[4][4]*a[5][3] + a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[4][2]*a[5][4] - a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[4][4]*a[5][2] - a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[4][2]*a[5][3] + a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[4][3]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[4][4]*a[5][5] + a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[4][5]*a[5][4] + a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[4][3]*a[5][5] - a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[4][5]*a[5][3] - a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[4][3]*a[5][4] + a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[4][4]*a[5][3] + a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[4][4]*a[5][5] - a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[4][5]*a[5][4] - a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[4][1]*a[5][5] + a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[4][5]*a[5][1] + a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[4][1]*a[5][4] - a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[4][4]*a[5][1] - a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[4][3]*a[5][5] + a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[4][5]*a[5][3] + a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[4][1]*a[5][5] - a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[4][5]*a[5][1] - a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[4][1]*a[5][3] + a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[4][3]*a[5][1] + a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[4][3]*a[5][4] - a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[4][4]*a[5][3] - a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[4][1]*a[5][4] + a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[4][4]*a[5][1] + a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[4][1]*a[5][3] - a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[4][3]*a[5][1] + a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[4][4]*a[5][5] - a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[4][5]*a[5][4] - a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[4][2]*a[5][5] + a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[4][5]*a[5][2] + a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[4][2]*a[5][4] - a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[4][4]*a[5][2] - a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[4][4]*a[5][5] + a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[4][5]*a[5][4] + a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[4][1]*a[5][5] - a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[4][5]*a[5][1] - a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[4][1]*a[5][4] + a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[4][4]*a[5][1] + a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[4][2]*a[5][5] - a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[4][5]*a[5][2] - a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[4][1]*a[5][5] + a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[4][5]*a[5][1] + a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[4][1]*a[5][2] - a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[4][2]*a[5][1] - a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[4][2]*a[5][4] + a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[4][4]*a[5][2] + a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[4][1]*a[5][4] - a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[4][4]*a[5][1] - a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[4][1]*a[5][2] + a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[4][2]*a[5][1] - a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[4][3]*a[5][5] + a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[4][5]*a[5][3] + a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[4][2]*a[5][5] - a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[4][5]*a[5][2] - a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[4][2]*a[5][3] + a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[4][3]*a[5][2] + a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[4][3]*a[5][5] - a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[4][5]*a[5][3] - a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[4][1]*a[5][5] + a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[4][5]*a[5][1] + a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[4][1]*a[5][3] - a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[4][3]*a[5][1] - a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[4][2]*a[5][5] + a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[4][5]*a[5][2] + a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[4][1]*a[5][5] - a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[4][5]*a[5][1] - a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[4][1]*a[5][2] + a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[4][2]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[4][2]*a[5][3] - a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[4][3]*a[5][2] - a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[4][1]*a[5][3] + a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[4][3]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[4][1]*a[5][2] - a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[4][2]*a[5][1] + a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[4][3]*a[5][4] - a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[4][4]*a[5][3] - a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[4][2]*a[5][4] + a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[4][4]*a[5][2] + a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[4][2]*a[5][3];
  denom += -a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[4][3]*a[5][2] - a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[4][3]*a[5][4] + a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[4][4]*a[5][3] + a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[4][1]*a[5][4] - a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[4][4]*a[5][1] - a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[4][1]*a[5][3] + a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[4][3]*a[5][1] + a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[4][2]*a[5][4] - a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[4][4]*a[5][2] - a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[4][1]*a[5][4] + a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[4][4]*a[5][1] + a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[4][1]*a[5][2] - a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[4][2]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[4][2]*a[5][3] + a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[4][3]*a[5][2] + a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[4][1]*a[5][3] - a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[4][3]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[4][1]*a[5][2] + a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[4][4]*a[5][5] + a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[4][5]*a[5][4] + a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[4][3]*a[5][5] - a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[4][5]*a[5][3] - a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[4][3]*a[5][4] + a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[4][4]*a[5][3] + a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[4][4]*a[5][5] - a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[4][5]*a[5][4] - a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[4][2]*a[5][5] + a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[4][5]*a[5][2] + a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[4][2]*a[5][4] - a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[4][4]*a[5][2] - a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[4][3]*a[5][5] + a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[4][5]*a[5][3] + a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[4][2]*a[5][5] - a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[4][5]*a[5][2] - a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[4][2]*a[5][3] + a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[4][3]*a[5][2] + a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[4][3]*a[5][4] - a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[4][4]*a[5][3] - a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[4][2]*a[5][4] + a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[4][4]*a[5][2] + a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[4][2]*a[5][3] - a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[4][3]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[4][4]*a[5][5] - a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[4][5]*a[5][4] - a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[4][3]*a[5][5] + a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[4][5]*a[5][3] + a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[4][3]*a[5][4] - a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[4][4]*a[5][3] - a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[4][4]*a[5][5] + a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[4][5]*a[5][4] + a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[4][0]*a[5][5] - a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[4][5]*a[5][0] - a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[4][0]*a[5][4] + a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[4][4]*a[5][0] + a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[4][3]*a[5][5] - a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[4][5]*a[5][3] - a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[4][0]*a[5][5] + a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[4][5]*a[5][0] + a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[4][0]*a[5][3] - a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[4][3]*a[5][0] - a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[4][3]*a[5][4] + a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[4][4]*a[5][3] + a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[4][0]*a[5][4] - a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[4][4]*a[5][0] - a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[4][0]*a[5][3] + a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[4][3]*a[5][0] - a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[4][4]*a[5][5] + a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[4][5]*a[5][4] + a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[4][2]*a[5][5] - a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[4][5]*a[5][2] - a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[4][2]*a[5][4] + a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[4][4]*a[5][2] + a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[4][4]*a[5][5] - a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[4][5]*a[5][4] - a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[4][0]*a[5][5] + a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[4][5]*a[5][0] + a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[4][0]*a[5][4] - a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[4][4]*a[5][0] - a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[4][2]*a[5][5] + a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[4][5]*a[5][2] + a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[4][0]*a[5][5] - a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[4][5]*a[5][0] - a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[4][0]*a[5][2] + a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[4][2]*a[5][0] + a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[4][2]*a[5][4] - a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[4][4]*a[5][2] - a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[4][0]*a[5][4] + a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[4][4]*a[5][0] + a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[4][0]*a[5][2] - a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[4][2]*a[5][0] + a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[4][3]*a[5][5] - a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[4][5]*a[5][3] - a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[4][2]*a[5][5] + a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[4][5]*a[5][2] + a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[4][2]*a[5][3] - a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[4][3]*a[5][2] - a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[4][3]*a[5][5] + a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[4][5]*a[5][3] + a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[4][0]*a[5][5] - a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[4][5]*a[5][0];
  denom += -a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[4][0]*a[5][3] + a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[4][3]*a[5][0] + a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[4][2]*a[5][5] - a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[4][5]*a[5][2] - a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[4][0]*a[5][5] + a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[4][5]*a[5][0] + a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[4][0]*a[5][2] - a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[4][2]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[4][2]*a[5][3] + a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[4][3]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[4][0]*a[5][3] - a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[4][3]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[4][0]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[4][2]*a[5][0] - a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[4][3]*a[5][4] + a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[4][4]*a[5][3] + a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[4][2]*a[5][4] - a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[4][4]*a[5][2] - a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[4][2]*a[5][3] + a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[4][3]*a[5][2] + a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[4][3]*a[5][4] - a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[4][4]*a[5][3] - a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[4][0]*a[5][4] + a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[4][4]*a[5][0] + a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[4][0]*a[5][3] - a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[4][3]*a[5][0] - a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[4][2]*a[5][4] + a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[4][4]*a[5][2] + a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[4][0]*a[5][4] - a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[4][4]*a[5][0] - a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[4][0]*a[5][2] + a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[4][2]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[4][2]*a[5][3] - a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[4][3]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[4][0]*a[5][3] + a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[4][3]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[4][0]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[4][4]*a[5][5] - a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[4][5]*a[5][4] - a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[4][3]*a[5][5] + a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[4][5]*a[5][3] + a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[4][3]*a[5][4] - a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[4][4]*a[5][3] - a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[4][4]*a[5][5] + a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[4][5]*a[5][4] + a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[4][1]*a[5][5] - a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[4][5]*a[5][1] - a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[4][1]*a[5][4] + a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[4][4]*a[5][1] + a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[4][3]*a[5][5] - a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[4][5]*a[5][3] - a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[4][1]*a[5][5] + a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[4][5]*a[5][1] + a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[4][1]*a[5][3] - a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[4][3]*a[5][1] - a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[4][3]*a[5][4] + a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[4][4]*a[5][3] + a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[4][1]*a[5][4] - a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[4][4]*a[5][1] - a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[4][1]*a[5][3] + a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[4][3]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[4][4]*a[5][5] + a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[4][5]*a[5][4] + a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[4][3]*a[5][5] - a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[4][5]*a[5][3] - a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[4][3]*a[5][4] + a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[4][4]*a[5][3] + a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[4][4]*a[5][5] - a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[4][5]*a[5][4] - a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[4][0]*a[5][5] + a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[4][5]*a[5][0] + a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[4][0]*a[5][4] - a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[4][4]*a[5][0] - a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[4][3]*a[5][5] + a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[4][5]*a[5][3] + a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[4][0]*a[5][5] - a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[4][5]*a[5][0] - a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[4][0]*a[5][3] + a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[4][3]*a[5][0] + a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[4][3]*a[5][4] - a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[4][4]*a[5][3] - a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[4][0]*a[5][4] + a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[4][4]*a[5][0] + a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[4][0]*a[5][3] - a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[4][3]*a[5][0] + a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[4][4]*a[5][5] - a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[4][5]*a[5][4] - a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[4][1]*a[5][5] + a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[4][5]*a[5][1] + a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[4][1]*a[5][4] - a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[4][4]*a[5][1] - a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[4][4]*a[5][5] + a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[4][5]*a[5][4] + a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[4][0]*a[5][5] - a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[4][5]*a[5][0] - a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[4][0]*a[5][4] + a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[4][4]*a[5][0] + a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[4][1]*a[5][5] - a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[4][5]*a[5][1] - a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[4][0]*a[5][5];
  denom +=  a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[4][5]*a[5][0] + a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[4][0]*a[5][1] - a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[4][1]*a[5][0] - a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[4][1]*a[5][4] + a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[4][4]*a[5][1] + a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[4][0]*a[5][4] - a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[4][4]*a[5][0] - a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[4][0]*a[5][1] + a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[4][1]*a[5][0] - a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[4][3]*a[5][5] + a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[4][5]*a[5][3] + a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[4][1]*a[5][5] - a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[4][5]*a[5][1] - a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[4][1]*a[5][3] + a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[4][3]*a[5][1] + a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[4][3]*a[5][5] - a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[4][5]*a[5][3] - a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[4][0]*a[5][5] + a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[4][5]*a[5][0] + a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[4][0]*a[5][3] - a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[4][3]*a[5][0] - a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[4][1]*a[5][5] + a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[4][5]*a[5][1] + a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[4][0]*a[5][5] - a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[4][5]*a[5][0] - a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[4][0]*a[5][1] + a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[4][1]*a[5][0] + a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[4][1]*a[5][3] - a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[4][3]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[4][0]*a[5][3] + a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[4][3]*a[5][0] + a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[4][0]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[4][1]*a[5][0] + a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[4][3]*a[5][4] - a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[4][4]*a[5][3] - a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[4][1]*a[5][4] + a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[4][4]*a[5][1] + a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[4][1]*a[5][3] - a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[4][3]*a[5][1] - a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[4][3]*a[5][4] + a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[4][4]*a[5][3] + a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[4][0]*a[5][4] - a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[4][4]*a[5][0] - a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[4][0]*a[5][3] + a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[4][3]*a[5][0] + a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[4][1]*a[5][4] - a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[4][4]*a[5][1] - a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[4][0]*a[5][4] + a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[4][4]*a[5][0] + a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[4][0]*a[5][1] - a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[4][1]*a[5][0] - a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[4][1]*a[5][3] + a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[4][3]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[4][0]*a[5][3] - a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[4][3]*a[5][0] - a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[4][0]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[4][1]*a[5][0] - a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[4][4]*a[5][5] + a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[4][5]*a[5][4] + a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[4][2]*a[5][5] - a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[4][5]*a[5][2] - a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[4][2]*a[5][4] + a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[4][4]*a[5][2] + a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[4][4]*a[5][5] - a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[4][5]*a[5][4] - a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[4][1]*a[5][5] + a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[4][5]*a[5][1] + a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[4][1]*a[5][4] - a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[4][4]*a[5][1] - a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[4][2]*a[5][5] + a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[4][5]*a[5][2] + a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[4][1]*a[5][5] - a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[4][5]*a[5][1] - a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[4][1]*a[5][2] + a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[4][2]*a[5][1] + a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[4][2]*a[5][4] - a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[4][4]*a[5][2] - a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[4][1]*a[5][4] + a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[4][4]*a[5][1] + a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[4][1]*a[5][2] - a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[4][2]*a[5][1] + a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[4][4]*a[5][5] - a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[4][5]*a[5][4] - a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[4][2]*a[5][5] + a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[4][5]*a[5][2] + a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[4][2]*a[5][4] - a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[4][4]*a[5][2] - a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[4][4]*a[5][5] + a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[4][5]*a[5][4] + a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[4][0]*a[5][5] - a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[4][5]*a[5][0] - a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[4][0]*a[5][4] + a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[4][4]*a[5][0] + a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[4][2]*a[5][5] - a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[4][5]*a[5][2] - a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[4][0]*a[5][5] + a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[4][5]*a[5][0] + a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[4][0]*a[5][2] - a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[4][2]*a[5][0] - a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[4][2]*a[5][4] + a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[4][4]*a[5][2];
  denom +=  a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[4][0]*a[5][4] - a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[4][4]*a[5][0] - a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[4][0]*a[5][2] + a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[4][2]*a[5][0] - a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[4][4]*a[5][5] + a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[4][5]*a[5][4] + a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[4][1]*a[5][5] - a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[4][5]*a[5][1] - a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[4][1]*a[5][4] + a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[4][4]*a[5][1] + a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[4][4]*a[5][5] - a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[4][5]*a[5][4] - a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[4][0]*a[5][5] + a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[4][5]*a[5][0] + a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[4][0]*a[5][4] - a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[4][4]*a[5][0] - a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[4][1]*a[5][5] + a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[4][5]*a[5][1] + a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[4][0]*a[5][5] - a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[4][5]*a[5][0] - a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[4][0]*a[5][1] + a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[4][1]*a[5][0] + a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[4][1]*a[5][4] - a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[4][4]*a[5][1] - a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[4][0]*a[5][4] + a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[4][4]*a[5][0] + a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[4][0]*a[5][1] - a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[4][1]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[4][2]*a[5][5] - a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[4][5]*a[5][2] - a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[4][1]*a[5][5] + a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[4][5]*a[5][1] + a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[4][1]*a[5][2] - a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[4][2]*a[5][1] - a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[4][2]*a[5][5] + a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[4][5]*a[5][2] + a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[4][0]*a[5][5] - a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[4][5]*a[5][0] - a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[4][0]*a[5][2] + a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[4][2]*a[5][0] + a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[4][1]*a[5][5] - a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[4][5]*a[5][1] - a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[4][0]*a[5][5] + a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[4][5]*a[5][0] + a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[4][0]*a[5][1] - a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[4][1]*a[5][0] - a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[4][1]*a[5][2] + a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[4][2]*a[5][1] + a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[4][0]*a[5][2] - a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[4][2]*a[5][0] - a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[4][0]*a[5][1] + a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[4][1]*a[5][0] - a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[4][2]*a[5][4] + a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[4][4]*a[5][2] + a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[4][1]*a[5][4] - a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[4][4]*a[5][1] - a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[4][1]*a[5][2] + a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[4][2]*a[5][1] + a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[4][2]*a[5][4] - a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[4][4]*a[5][2] - a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[4][0]*a[5][4] + a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[4][4]*a[5][0] + a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[4][0]*a[5][2] - a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[4][2]*a[5][0] - a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[4][1]*a[5][4] + a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[4][4]*a[5][1] + a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[4][0]*a[5][4] - a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[4][4]*a[5][0] - a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[4][0]*a[5][1] + a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[4][1]*a[5][0] + a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[4][1]*a[5][2] - a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[4][2]*a[5][1] - a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[4][0]*a[5][2] + a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[4][2]*a[5][0] + a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[4][0]*a[5][1] - a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[4][1]*a[5][0] + a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[4][3]*a[5][5] - a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[4][5]*a[5][3] - a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[4][2]*a[5][5] + a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[4][5]*a[5][2] + a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[4][2]*a[5][3] - a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[4][3]*a[5][2] - a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[4][3]*a[5][5] + a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[4][5]*a[5][3] + a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[4][1]*a[5][5] - a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[4][5]*a[5][1] - a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[4][1]*a[5][3] + a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[4][3]*a[5][1] + a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[4][2]*a[5][5] - a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[4][5]*a[5][2] - a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[4][1]*a[5][5] + a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[4][5]*a[5][1] + a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[4][1]*a[5][2] - a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[4][2]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[4][2]*a[5][3] + a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[4][3]*a[5][2] + a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[4][1]*a[5][3] - a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[4][3]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[4][1]*a[5][2] + a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[4][2]*a[5][1] - a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[4][3]*a[5][5];
  denom +=  a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[4][5]*a[5][3] + a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[4][2]*a[5][5] - a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[4][5]*a[5][2] - a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[4][2]*a[5][3] + a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[4][3]*a[5][2] + a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[4][3]*a[5][5] - a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[4][5]*a[5][3] - a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[4][0]*a[5][5] + a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[4][5]*a[5][0] + a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[4][0]*a[5][3] - a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[4][3]*a[5][0] - a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[4][2]*a[5][5] + a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[4][5]*a[5][2] + a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[4][0]*a[5][5] - a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[4][5]*a[5][0] - a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[4][0]*a[5][2] + a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[4][2]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[4][2]*a[5][3] - a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[4][3]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[4][0]*a[5][3] + a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[4][3]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[4][0]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[4][2]*a[5][0] + a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[4][3]*a[5][5] - a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[4][5]*a[5][3] - a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[4][1]*a[5][5] + a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[4][5]*a[5][1] + a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[4][1]*a[5][3] - a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[4][3]*a[5][1] - a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[4][3]*a[5][5] + a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[4][5]*a[5][3] + a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[4][0]*a[5][5] - a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[4][5]*a[5][0] - a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[4][0]*a[5][3] + a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[4][3]*a[5][0] + a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[4][1]*a[5][5] - a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[4][5]*a[5][1] - a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[4][0]*a[5][5] + a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[4][5]*a[5][0] + a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[4][0]*a[5][1] - a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[4][1]*a[5][0] - a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[4][1]*a[5][3] + a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[4][3]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[4][0]*a[5][3] - a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[4][3]*a[5][0] - a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[4][0]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[4][1]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[4][2]*a[5][5] + a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[4][5]*a[5][2] + a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[4][1]*a[5][5] - a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[4][5]*a[5][1] - a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[4][1]*a[5][2] + a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[4][2]*a[5][1] + a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[4][2]*a[5][5] - a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[4][5]*a[5][2] - a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[4][0]*a[5][5] + a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[4][5]*a[5][0] + a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[4][0]*a[5][2] - a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[4][2]*a[5][0] - a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[4][1]*a[5][5] + a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[4][5]*a[5][1] + a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[4][0]*a[5][5] - a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[4][5]*a[5][0] - a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[4][0]*a[5][1] + a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[4][1]*a[5][0] + a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[4][1]*a[5][2] - a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[4][2]*a[5][1] - a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[4][0]*a[5][2] + a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[4][2]*a[5][0] + a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[4][0]*a[5][1] - a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[4][1]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[4][2]*a[5][3] - a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[4][3]*a[5][2] - a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[4][1]*a[5][3] + a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[4][3]*a[5][1] + a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[4][1]*a[5][2] - a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[4][2]*a[5][1] - a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[4][2]*a[5][3] + a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[4][3]*a[5][2] + a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[4][0]*a[5][3] - a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[4][3]*a[5][0] - a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[4][0]*a[5][2] + a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[4][2]*a[5][0] + a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[4][1]*a[5][3] - a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[4][3]*a[5][1] - a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[4][0]*a[5][3] + a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[4][3]*a[5][0] + a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[4][0]*a[5][1] - a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[4][1]*a[5][0] - a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[4][1]*a[5][2] + a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[4][2]*a[5][1] + a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[4][0]*a[5][2] - a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[4][2]*a[5][0] - a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[4][0]*a[5][1] + a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[4][1]*a[5][0] - a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[4][3]*a[5][4] + a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[4][4]*a[5][3] + a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[4][2]*a[5][4] - a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[4][4]*a[5][2] - a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[4][2]*a[5][3] + a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[4][3]*a[5][2];
  denom +=  a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[4][3]*a[5][4] - a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[4][4]*a[5][3] - a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[4][1]*a[5][4] + a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[4][4]*a[5][1] + a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[4][1]*a[5][3] - a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[4][3]*a[5][1] - a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[4][2]*a[5][4] + a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[4][4]*a[5][2] + a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[4][1]*a[5][4] - a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[4][4]*a[5][1] - a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[4][1]*a[5][2] + a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[4][2]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[4][2]*a[5][3] - a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[4][3]*a[5][2] - a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[4][1]*a[5][3] + a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[4][3]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[4][1]*a[5][2] - a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[4][2]*a[5][1] + a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[4][3]*a[5][4] - a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[4][4]*a[5][3] - a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[4][2]*a[5][4] + a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[4][4]*a[5][2] + a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[4][2]*a[5][3] - a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[4][3]*a[5][2] - a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[4][3]*a[5][4] + a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[4][4]*a[5][3] + a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[4][0]*a[5][4] - a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[4][4]*a[5][0] - a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[4][0]*a[5][3] + a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[4][3]*a[5][0] + a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[4][2]*a[5][4] - a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[4][4]*a[5][2] - a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[4][0]*a[5][4] + a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[4][4]*a[5][0] + a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[4][0]*a[5][2] - a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[4][2]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[4][2]*a[5][3] + a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[4][3]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[4][0]*a[5][3] - a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[4][3]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[4][0]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[4][2]*a[5][0] - a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[4][3]*a[5][4] + a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[4][4]*a[5][3] + a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[4][1]*a[5][4] - a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[4][4]*a[5][1] - a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[4][1]*a[5][3] + a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[4][3]*a[5][1] + a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[4][3]*a[5][4] - a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[4][4]*a[5][3] - a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[4][0]*a[5][4] + a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[4][4]*a[5][0] + a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[4][0]*a[5][3] - a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[4][3]*a[5][0] - a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[4][1]*a[5][4] + a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[4][4]*a[5][1] + a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[4][0]*a[5][4] - a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[4][4]*a[5][0] - a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[4][0]*a[5][1] + a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[4][1]*a[5][0] + a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[4][1]*a[5][3] - a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[4][3]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[4][0]*a[5][3] + a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[4][3]*a[5][0] + a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[4][0]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[4][1]*a[5][0] + a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[4][2]*a[5][4] - a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[4][4]*a[5][2] - a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[4][1]*a[5][4] + a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[4][4]*a[5][1] + a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[4][1]*a[5][2] - a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[4][2]*a[5][1] - a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[4][2]*a[5][4] + a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[4][4]*a[5][2] + a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[4][0]*a[5][4] - a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[4][4]*a[5][0] - a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[4][0]*a[5][2] + a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[4][2]*a[5][0] + a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[4][1]*a[5][4] - a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[4][4]*a[5][1] - a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[4][0]*a[5][4] + a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[4][4]*a[5][0] + a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[4][0]*a[5][1] - a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[4][1]*a[5][0] - a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[4][1]*a[5][2] + a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[4][2]*a[5][1] + a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[4][0]*a[5][2] - a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[4][2]*a[5][0] - a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[4][0]*a[5][1] + a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[4][1]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[4][2]*a[5][3] + a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[4][3]*a[5][2] + a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[4][1]*a[5][3] - a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[4][3]*a[5][1] - a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[4][1]*a[5][2] + a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[4][2]*a[5][1] + a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[4][2]*a[5][3] - a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[4][3]*a[5][2] - a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[4][0]*a[5][3] + a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[4][3]*a[5][0] + a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[4][0]*a[5][2];
  denom += -a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[4][2]*a[5][0] - a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[4][1]*a[5][3] + a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[4][3]*a[5][1] + a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[4][0]*a[5][3] - a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[4][3]*a[5][0] - a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[4][0]*a[5][1] + a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[4][1]*a[5][0] + a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[4][1]*a[5][2] - a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[4][2]*a[5][1] - a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[4][0]*a[5][2] + a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[4][2]*a[5][0] + a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[4][0]*a[5][1] - a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[4][1]*a[5][0];

  invA[0][0] =  (a[1][1]*a[2][2]*a[3][3]*a[4][4]*a[5][5] - a[1][1]*a[2][2]*a[3][3]*a[4][5]*a[5][4] - a[1][1]*a[2][2]*a[3][4]*a[4][3]*a[5][5] + a[1][1]*a[2][2]*a[3][4]*a[4][5]*a[5][3] + a[1][1]*a[2][2]*a[3][5]*a[4][3]*a[5][4] - a[1][1]*a[2][2]*a[3][5]*a[4][4]*a[5][3] - a[1][1]*a[2][3]*a[3][2]*a[4][4]*a[5][5] + a[1][1]*a[2][3]*a[3][2]*a[4][5]*a[5][4] + a[1][1]*a[2][3]*a[3][4]*a[4][2]*a[5][5] - a[1][1]*a[2][3]*a[3][4]*a[4][5]*a[5][2] - a[1][1]*a[2][3]*a[3][5]*a[4][2]*a[5][4] + a[1][1]*a[2][3]*a[3][5]*a[4][4]*a[5][2] + a[1][1]*a[2][4]*a[3][2]*a[4][3]*a[5][5] - a[1][1]*a[2][4]*a[3][2]*a[4][5]*a[5][3] - a[1][1]*a[2][4]*a[3][3]*a[4][2]*a[5][5] + a[1][1]*a[2][4]*a[3][3]*a[4][5]*a[5][2] + a[1][1]*a[2][4]*a[3][5]*a[4][2]*a[5][3] - a[1][1]*a[2][4]*a[3][5]*a[4][3]*a[5][2] - a[1][1]*a[2][5]*a[3][2]*a[4][3]*a[5][4] + a[1][1]*a[2][5]*a[3][2]*a[4][4]*a[5][3] + a[1][1]*a[2][5]*a[3][3]*a[4][2]*a[5][4] - a[1][1]*a[2][5]*a[3][3]*a[4][4]*a[5][2] - a[1][1]*a[2][5]*a[3][4]*a[4][2]*a[5][3] + a[1][1]*a[2][5]*a[3][4]*a[4][3]*a[5][2] - a[1][2]*a[2][1]*a[3][3]*a[4][4]*a[5][5] + a[1][2]*a[2][1]*a[3][3]*a[4][5]*a[5][4] + a[1][2]*a[2][1]*a[3][4]*a[4][3]*a[5][5] - a[1][2]*a[2][1]*a[3][4]*a[4][5]*a[5][3] - a[1][2]*a[2][1]*a[3][5]*a[4][3]*a[5][4] + a[1][2]*a[2][1]*a[3][5]*a[4][4]*a[5][3] + a[1][2]*a[2][3]*a[3][1]*a[4][4]*a[5][5] - a[1][2]*a[2][3]*a[3][1]*a[4][5]*a[5][4] - a[1][2]*a[2][3]*a[3][4]*a[4][1]*a[5][5] + a[1][2]*a[2][3]*a[3][4]*a[4][5]*a[5][1] + a[1][2]*a[2][3]*a[3][5]*a[4][1]*a[5][4] - a[1][2]*a[2][3]*a[3][5]*a[4][4]*a[5][1] - a[1][2]*a[2][4]*a[3][1]*a[4][3]*a[5][5] + a[1][2]*a[2][4]*a[3][1]*a[4][5]*a[5][3] + a[1][2]*a[2][4]*a[3][3]*a[4][1]*a[5][5] - a[1][2]*a[2][4]*a[3][3]*a[4][5]*a[5][1] - a[1][2]*a[2][4]*a[3][5]*a[4][1]*a[5][3] + a[1][2]*a[2][4]*a[3][5]*a[4][3]*a[5][1] + a[1][2]*a[2][5]*a[3][1]*a[4][3]*a[5][4] - a[1][2]*a[2][5]*a[3][1]*a[4][4]*a[5][3] - a[1][2]*a[2][5]*a[3][3]*a[4][1]*a[5][4] + a[1][2]*a[2][5]*a[3][3]*a[4][4]*a[5][1] + a[1][2]*a[2][5]*a[3][4]*a[4][1]*a[5][3] - a[1][2]*a[2][5]*a[3][4]*a[4][3]*a[5][1] + a[1][3]*a[2][1]*a[3][2]*a[4][4]*a[5][5] - a[1][3]*a[2][1]*a[3][2]*a[4][5]*a[5][4] - a[1][3]*a[2][1]*a[3][4]*a[4][2]*a[5][5] + a[1][3]*a[2][1]*a[3][4]*a[4][5]*a[5][2] + a[1][3]*a[2][1]*a[3][5]*a[4][2]*a[5][4] - a[1][3]*a[2][1]*a[3][5]*a[4][4]*a[5][2] - a[1][3]*a[2][2]*a[3][1]*a[4][4]*a[5][5] + a[1][3]*a[2][2]*a[3][1]*a[4][5]*a[5][4] + a[1][3]*a[2][2]*a[3][4]*a[4][1]*a[5][5] - a[1][3]*a[2][2]*a[3][4]*a[4][5]*a[5][1] - a[1][3]*a[2][2]*a[3][5]*a[4][1]*a[5][4] + a[1][3]*a[2][2]*a[3][5]*a[4][4]*a[5][1] + a[1][3]*a[2][4]*a[3][1]*a[4][2]*a[5][5] - a[1][3]*a[2][4]*a[3][1]*a[4][5]*a[5][2] - a[1][3]*a[2][4]*a[3][2]*a[4][1]*a[5][5] + a[1][3]*a[2][4]*a[3][2]*a[4][5]*a[5][1] + a[1][3]*a[2][4]*a[3][5]*a[4][1]*a[5][2] - a[1][3]*a[2][4]*a[3][5]*a[4][2]*a[5][1] - a[1][3]*a[2][5]*a[3][1]*a[4][2]*a[5][4] + a[1][3]*a[2][5]*a[3][1]*a[4][4]*a[5][2] + a[1][3]*a[2][5]*a[3][2]*a[4][1]*a[5][4] - a[1][3]*a[2][5]*a[3][2]*a[4][4]*a[5][1] - a[1][3]*a[2][5]*a[3][4]*a[4][1]*a[5][2] + a[1][3]*a[2][5]*a[3][4]*a[4][2]*a[5][1] - a[1][4]*a[2][1]*a[3][2]*a[4][3]*a[5][5] + a[1][4]*a[2][1]*a[3][2]*a[4][5]*a[5][3] + a[1][4]*a[2][1]*a[3][3]*a[4][2]*a[5][5] - a[1][4]*a[2][1]*a[3][3]*a[4][5]*a[5][2] - a[1][4]*a[2][1]*a[3][5]*a[4][2]*a[5][3] + a[1][4]*a[2][1]*a[3][5]*a[4][3]*a[5][2] + a[1][4]*a[2][2]*a[3][1]*a[4][3]*a[5][5] - a[1][4]*a[2][2]*a[3][1]*a[4][5]*a[5][3] - a[1][4]*a[2][2]*a[3][3]*a[4][1]*a[5][5] + a[1][4]*a[2][2]*a[3][3]*a[4][5]*a[5][1] + a[1][4]*a[2][2]*a[3][5]*a[4][1]*a[5][3] - a[1][4]*a[2][2]*a[3][5]*a[4][3]*a[5][1] - a[1][4]*a[2][3]*a[3][1]*a[4][2]*a[5][5] + a[1][4]*a[2][3]*a[3][1]*a[4][5]*a[5][2] + a[1][4]*a[2][3]*a[3][2]*a[4][1]*a[5][5] - a[1][4]*a[2][3]*a[3][2]*a[4][5]*a[5][1] - a[1][4]*a[2][3]*a[3][5]*a[4][1]*a[5][2] + a[1][4]*a[2][3]*a[3][5]*a[4][2]*a[5][1] + a[1][4]*a[2][5]*a[3][1]*a[4][2]*a[5][3] - a[1][4]*a[2][5]*a[3][1]*a[4][3]*a[5][2] - a[1][4]*a[2][5]*a[3][2]*a[4][1]*a[5][3] + a[1][4]*a[2][5]*a[3][2]*a[4][3]*a[5][1] + a[1][4]*a[2][5]*a[3][3]*a[4][1]*a[5][2] - a[1][4]*a[2][5]*a[3][3]*a[4][2]*a[5][1] + a[1][5]*a[2][1]*a[3][2]*a[4][3]*a[5][4] - a[1][5]*a[2][1]*a[3][2]*a[4][4]*a[5][3] - a[1][5]*a[2][1]*a[3][3]*a[4][2]*a[5][4] + a[1][5]*a[2][1]*a[3][3]*a[4][4]*a[5][2] + a[1][5]*a[2][1]*a[3][4]*a[4][2]*a[5][3] - a[1][5]*a[2][1]*a[3][4]*a[4][3]*a[5][2] - a[1][5]*a[2][2]*a[3][1]*a[4][3]*a[5][4] + a[1][5]*a[2][2]*a[3][1]*a[4][4]*a[5][3] + a[1][5]*a[2][2]*a[3][3]*a[4][1]*a[5][4] - a[1][5]*a[2][2]*a[3][3]*a[4][4]*a[5][1] - a[1][5]*a[2][2]*a[3][4]*a[4][1]*a[5][3] + a[1][5]*a[2][2]*a[3][4]*a[4][3]*a[5][1] + a[1][5]*a[2][3]*a[3][1]*a[4][2]*a[5][4] - a[1][5]*a[2][3]*a[3][1]*a[4][4]*a[5][2] - a[1][5]*a[2][3]*a[3][2]*a[4][1]*a[5][4] + a[1][5]*a[2][3]*a[3][2]*a[4][4]*a[5][1] + a[1][5]*a[2][3]*a[3][4]*a[4][1]*a[5][2] - a[1][5]*a[2][3]*a[3][4]*a[4][2]*a[5][1] - a[1][5]*a[2][4]*a[3][1]*a[4][2]*a[5][3] + a[1][5]*a[2][4]*a[3][1]*a[4][3]*a[5][2] + a[1][5]*a[2][4]*a[3][2]*a[4][1]*a[5][3] - a[1][5]*a[2][4]*a[3][2]*a[4][3]*a[5][1] - a[1][5]*a[2][4]*a[3][3]*a[4][1]*a[5][2] + a[1][5]*a[2][4]*a[3][3]*a[4][2]*a[5][1])/denom;
  invA[1][0] = -(a[1][0]*a[2][2]*a[3][3]*a[4][4]*a[5][5] - a[1][0]*a[2][2]*a[3][3]*a[4][5]*a[5][4] - a[1][0]*a[2][2]*a[3][4]*a[4][3]*a[5][5] + a[1][0]*a[2][2]*a[3][4]*a[4][5]*a[5][3] + a[1][0]*a[2][2]*a[3][5]*a[4][3]*a[5][4] - a[1][0]*a[2][2]*a[3][5]*a[4][4]*a[5][3] - a[1][0]*a[2][3]*a[3][2]*a[4][4]*a[5][5] + a[1][0]*a[2][3]*a[3][2]*a[4][5]*a[5][4] + a[1][0]*a[2][3]*a[3][4]*a[4][2]*a[5][5] - a[1][0]*a[2][3]*a[3][4]*a[4][5]*a[5][2] - a[1][0]*a[2][3]*a[3][5]*a[4][2]*a[5][4] + a[1][0]*a[2][3]*a[3][5]*a[4][4]*a[5][2] + a[1][0]*a[2][4]*a[3][2]*a[4][3]*a[5][5] - a[1][0]*a[2][4]*a[3][2]*a[4][5]*a[5][3] - a[1][0]*a[2][4]*a[3][3]*a[4][2]*a[5][5] + a[1][0]*a[2][4]*a[3][3]*a[4][5]*a[5][2] + a[1][0]*a[2][4]*a[3][5]*a[4][2]*a[5][3] - a[1][0]*a[2][4]*a[3][5]*a[4][3]*a[5][2] - a[1][0]*a[2][5]*a[3][2]*a[4][3]*a[5][4] + a[1][0]*a[2][5]*a[3][2]*a[4][4]*a[5][3] + a[1][0]*a[2][5]*a[3][3]*a[4][2]*a[5][4] - a[1][0]*a[2][5]*a[3][3]*a[4][4]*a[5][2] - a[1][0]*a[2][5]*a[3][4]*a[4][2]*a[5][3] + a[1][0]*a[2][5]*a[3][4]*a[4][3]*a[5][2] - a[1][2]*a[2][0]*a[3][3]*a[4][4]*a[5][5] + a[1][2]*a[2][0]*a[3][3]*a[4][5]*a[5][4] + a[1][2]*a[2][0]*a[3][4]*a[4][3]*a[5][5] - a[1][2]*a[2][0]*a[3][4]*a[4][5]*a[5][3] - a[1][2]*a[2][0]*a[3][5]*a[4][3]*a[5][4] + a[1][2]*a[2][0]*a[3][5]*a[4][4]*a[5][3] + a[1][2]*a[2][3]*a[3][0]*a[4][4]*a[5][5] - a[1][2]*a[2][3]*a[3][0]*a[4][5]*a[5][4] - a[1][2]*a[2][3]*a[3][4]*a[4][0]*a[5][5] + a[1][2]*a[2][3]*a[3][4]*a[4][5]*a[5][0] + a[1][2]*a[2][3]*a[3][5]*a[4][0]*a[5][4] - a[1][2]*a[2][3]*a[3][5]*a[4][4]*a[5][0] - a[1][2]*a[2][4]*a[3][0]*a[4][3]*a[5][5] + a[1][2]*a[2][4]*a[3][0]*a[4][5]*a[5][3] + a[1][2]*a[2][4]*a[3][3]*a[4][0]*a[5][5] - a[1][2]*a[2][4]*a[3][3]*a[4][5]*a[5][0] - a[1][2]*a[2][4]*a[3][5]*a[4][0]*a[5][3] + a[1][2]*a[2][4]*a[3][5]*a[4][3]*a[5][0] + a[1][2]*a[2][5]*a[3][0]*a[4][3]*a[5][4] - a[1][2]*a[2][5]*a[3][0]*a[4][4]*a[5][3] - a[1][2]*a[2][5]*a[3][3]*a[4][0]*a[5][4] + a[1][2]*a[2][5]*a[3][3]*a[4][4]*a[5][0] + a[1][2]*a[2][5]*a[3][4]*a[4][0]*a[5][3] - a[1][2]*a[2][5]*a[3][4]*a[4][3]*a[5][0] + a[1][3]*a[2][0]*a[3][2]*a[4][4]*a[5][5] - a[1][3]*a[2][0]*a[3][2]*a[4][5]*a[5][4] - a[1][3]*a[2][0]*a[3][4]*a[4][2]*a[5][5] + a[1][3]*a[2][0]*a[3][4]*a[4][5]*a[5][2] + a[1][3]*a[2][0]*a[3][5]*a[4][2]*a[5][4] - a[1][3]*a[2][0]*a[3][5]*a[4][4]*a[5][2] - a[1][3]*a[2][2]*a[3][0]*a[4][4]*a[5][5] + a[1][3]*a[2][2]*a[3][0]*a[4][5]*a[5][4] + a[1][3]*a[2][2]*a[3][4]*a[4][0]*a[5][5] - a[1][3]*a[2][2]*a[3][4]*a[4][5]*a[5][0] - a[1][3]*a[2][2]*a[3][5]*a[4][0]*a[5][4] + a[1][3]*a[2][2]*a[3][5]*a[4][4]*a[5][0] + a[1][3]*a[2][4]*a[3][0]*a[4][2]*a[5][5] - a[1][3]*a[2][4]*a[3][0]*a[4][5]*a[5][2] - a[1][3]*a[2][4]*a[3][2]*a[4][0]*a[5][5] + a[1][3]*a[2][4]*a[3][2]*a[4][5]*a[5][0] + a[1][3]*a[2][4]*a[3][5]*a[4][0]*a[5][2] - a[1][3]*a[2][4]*a[3][5]*a[4][2]*a[5][0] - a[1][3]*a[2][5]*a[3][0]*a[4][2]*a[5][4] + a[1][3]*a[2][5]*a[3][0]*a[4][4]*a[5][2] + a[1][3]*a[2][5]*a[3][2]*a[4][0]*a[5][4] - a[1][3]*a[2][5]*a[3][2]*a[4][4]*a[5][0] - a[1][3]*a[2][5]*a[3][4]*a[4][0]*a[5][2] + a[1][3]*a[2][5]*a[3][4]*a[4][2]*a[5][0] - a[1][4]*a[2][0]*a[3][2]*a[4][3]*a[5][5] + a[1][4]*a[2][0]*a[3][2]*a[4][5]*a[5][3] + a[1][4]*a[2][0]*a[3][3]*a[4][2]*a[5][5] - a[1][4]*a[2][0]*a[3][3]*a[4][5]*a[5][2] - a[1][4]*a[2][0]*a[3][5]*a[4][2]*a[5][3] + a[1][4]*a[2][0]*a[3][5]*a[4][3]*a[5][2] + a[1][4]*a[2][2]*a[3][0]*a[4][3]*a[5][5] - a[1][4]*a[2][2]*a[3][0]*a[4][5]*a[5][3] - a[1][4]*a[2][2]*a[3][3]*a[4][0]*a[5][5] + a[1][4]*a[2][2]*a[3][3]*a[4][5]*a[5][0] + a[1][4]*a[2][2]*a[3][5]*a[4][0]*a[5][3] - a[1][4]*a[2][2]*a[3][5]*a[4][3]*a[5][0] - a[1][4]*a[2][3]*a[3][0]*a[4][2]*a[5][5] + a[1][4]*a[2][3]*a[3][0]*a[4][5]*a[5][2] + a[1][4]*a[2][3]*a[3][2]*a[4][0]*a[5][5] - a[1][4]*a[2][3]*a[3][2]*a[4][5]*a[5][0] - a[1][4]*a[2][3]*a[3][5]*a[4][0]*a[5][2] + a[1][4]*a[2][3]*a[3][5]*a[4][2]*a[5][0] + a[1][4]*a[2][5]*a[3][0]*a[4][2]*a[5][3] - a[1][4]*a[2][5]*a[3][0]*a[4][3]*a[5][2] - a[1][4]*a[2][5]*a[3][2]*a[4][0]*a[5][3] + a[1][4]*a[2][5]*a[3][2]*a[4][3]*a[5][0] + a[1][4]*a[2][5]*a[3][3]*a[4][0]*a[5][2] - a[1][4]*a[2][5]*a[3][3]*a[4][2]*a[5][0] + a[1][5]*a[2][0]*a[3][2]*a[4][3]*a[5][4] - a[1][5]*a[2][0]*a[3][2]*a[4][4]*a[5][3] - a[1][5]*a[2][0]*a[3][3]*a[4][2]*a[5][4] + a[1][5]*a[2][0]*a[3][3]*a[4][4]*a[5][2] + a[1][5]*a[2][0]*a[3][4]*a[4][2]*a[5][3] - a[1][5]*a[2][0]*a[3][4]*a[4][3]*a[5][2] - a[1][5]*a[2][2]*a[3][0]*a[4][3]*a[5][4] + a[1][5]*a[2][2]*a[3][0]*a[4][4]*a[5][3] + a[1][5]*a[2][2]*a[3][3]*a[4][0]*a[5][4] - a[1][5]*a[2][2]*a[3][3]*a[4][4]*a[5][0] - a[1][5]*a[2][2]*a[3][4]*a[4][0]*a[5][3] + a[1][5]*a[2][2]*a[3][4]*a[4][3]*a[5][0] + a[1][5]*a[2][3]*a[3][0]*a[4][2]*a[5][4] - a[1][5]*a[2][3]*a[3][0]*a[4][4]*a[5][2] - a[1][5]*a[2][3]*a[3][2]*a[4][0]*a[5][4] + a[1][5]*a[2][3]*a[3][2]*a[4][4]*a[5][0] + a[1][5]*a[2][3]*a[3][4]*a[4][0]*a[5][2] - a[1][5]*a[2][3]*a[3][4]*a[4][2]*a[5][0] - a[1][5]*a[2][4]*a[3][0]*a[4][2]*a[5][3] + a[1][5]*a[2][4]*a[3][0]*a[4][3]*a[5][2] + a[1][5]*a[2][4]*a[3][2]*a[4][0]*a[5][3] - a[1][5]*a[2][4]*a[3][2]*a[4][3]*a[5][0] - a[1][5]*a[2][4]*a[3][3]*a[4][0]*a[5][2] + a[1][5]*a[2][4]*a[3][3]*a[4][2]*a[5][0])/denom;
  invA[2][0] =  (a[1][0]*a[2][1]*a[3][3]*a[4][4]*a[5][5] - a[1][0]*a[2][1]*a[3][3]*a[4][5]*a[5][4] - a[1][0]*a[2][1]*a[3][4]*a[4][3]*a[5][5] + a[1][0]*a[2][1]*a[3][4]*a[4][5]*a[5][3] + a[1][0]*a[2][1]*a[3][5]*a[4][3]*a[5][4] - a[1][0]*a[2][1]*a[3][5]*a[4][4]*a[5][3] - a[1][0]*a[2][3]*a[3][1]*a[4][4]*a[5][5] + a[1][0]*a[2][3]*a[3][1]*a[4][5]*a[5][4] + a[1][0]*a[2][3]*a[3][4]*a[4][1]*a[5][5] - a[1][0]*a[2][3]*a[3][4]*a[4][5]*a[5][1] - a[1][0]*a[2][3]*a[3][5]*a[4][1]*a[5][4] + a[1][0]*a[2][3]*a[3][5]*a[4][4]*a[5][1] + a[1][0]*a[2][4]*a[3][1]*a[4][3]*a[5][5] - a[1][0]*a[2][4]*a[3][1]*a[4][5]*a[5][3] - a[1][0]*a[2][4]*a[3][3]*a[4][1]*a[5][5] + a[1][0]*a[2][4]*a[3][3]*a[4][5]*a[5][1] + a[1][0]*a[2][4]*a[3][5]*a[4][1]*a[5][3] - a[1][0]*a[2][4]*a[3][5]*a[4][3]*a[5][1] - a[1][0]*a[2][5]*a[3][1]*a[4][3]*a[5][4] + a[1][0]*a[2][5]*a[3][1]*a[4][4]*a[5][3] + a[1][0]*a[2][5]*a[3][3]*a[4][1]*a[5][4] - a[1][0]*a[2][5]*a[3][3]*a[4][4]*a[5][1] - a[1][0]*a[2][5]*a[3][4]*a[4][1]*a[5][3] + a[1][0]*a[2][5]*a[3][4]*a[4][3]*a[5][1] - a[1][1]*a[2][0]*a[3][3]*a[4][4]*a[5][5] + a[1][1]*a[2][0]*a[3][3]*a[4][5]*a[5][4] + a[1][1]*a[2][0]*a[3][4]*a[4][3]*a[5][5] - a[1][1]*a[2][0]*a[3][4]*a[4][5]*a[5][3] - a[1][1]*a[2][0]*a[3][5]*a[4][3]*a[5][4] + a[1][1]*a[2][0]*a[3][5]*a[4][4]*a[5][3] + a[1][1]*a[2][3]*a[3][0]*a[4][4]*a[5][5] - a[1][1]*a[2][3]*a[3][0]*a[4][5]*a[5][4] - a[1][1]*a[2][3]*a[3][4]*a[4][0]*a[5][5] + a[1][1]*a[2][3]*a[3][4]*a[4][5]*a[5][0] + a[1][1]*a[2][3]*a[3][5]*a[4][0]*a[5][4] - a[1][1]*a[2][3]*a[3][5]*a[4][4]*a[5][0] - a[1][1]*a[2][4]*a[3][0]*a[4][3]*a[5][5] + a[1][1]*a[2][4]*a[3][0]*a[4][5]*a[5][3] + a[1][1]*a[2][4]*a[3][3]*a[4][0]*a[5][5] - a[1][1]*a[2][4]*a[3][3]*a[4][5]*a[5][0] - a[1][1]*a[2][4]*a[3][5]*a[4][0]*a[5][3] + a[1][1]*a[2][4]*a[3][5]*a[4][3]*a[5][0] + a[1][1]*a[2][5]*a[3][0]*a[4][3]*a[5][4] - a[1][1]*a[2][5]*a[3][0]*a[4][4]*a[5][3] - a[1][1]*a[2][5]*a[3][3]*a[4][0]*a[5][4] + a[1][1]*a[2][5]*a[3][3]*a[4][4]*a[5][0] + a[1][1]*a[2][5]*a[3][4]*a[4][0]*a[5][3] - a[1][1]*a[2][5]*a[3][4]*a[4][3]*a[5][0] + a[1][3]*a[2][0]*a[3][1]*a[4][4]*a[5][5] - a[1][3]*a[2][0]*a[3][1]*a[4][5]*a[5][4] - a[1][3]*a[2][0]*a[3][4]*a[4][1]*a[5][5] + a[1][3]*a[2][0]*a[3][4]*a[4][5]*a[5][1] + a[1][3]*a[2][0]*a[3][5]*a[4][1]*a[5][4] - a[1][3]*a[2][0]*a[3][5]*a[4][4]*a[5][1] - a[1][3]*a[2][1]*a[3][0]*a[4][4]*a[5][5] + a[1][3]*a[2][1]*a[3][0]*a[4][5]*a[5][4] + a[1][3]*a[2][1]*a[3][4]*a[4][0]*a[5][5] - a[1][3]*a[2][1]*a[3][4]*a[4][5]*a[5][0] - a[1][3]*a[2][1]*a[3][5]*a[4][0]*a[5][4] + a[1][3]*a[2][1]*a[3][5]*a[4][4]*a[5][0] + a[1][3]*a[2][4]*a[3][0]*a[4][1]*a[5][5] - a[1][3]*a[2][4]*a[3][0]*a[4][5]*a[5][1] - a[1][3]*a[2][4]*a[3][1]*a[4][0]*a[5][5] + a[1][3]*a[2][4]*a[3][1]*a[4][5]*a[5][0] + a[1][3]*a[2][4]*a[3][5]*a[4][0]*a[5][1] - a[1][3]*a[2][4]*a[3][5]*a[4][1]*a[5][0] - a[1][3]*a[2][5]*a[3][0]*a[4][1]*a[5][4] + a[1][3]*a[2][5]*a[3][0]*a[4][4]*a[5][1] + a[1][3]*a[2][5]*a[3][1]*a[4][0]*a[5][4] - a[1][3]*a[2][5]*a[3][1]*a[4][4]*a[5][0] - a[1][3]*a[2][5]*a[3][4]*a[4][0]*a[5][1] + a[1][3]*a[2][5]*a[3][4]*a[4][1]*a[5][0] - a[1][4]*a[2][0]*a[3][1]*a[4][3]*a[5][5] + a[1][4]*a[2][0]*a[3][1]*a[4][5]*a[5][3] + a[1][4]*a[2][0]*a[3][3]*a[4][1]*a[5][5] - a[1][4]*a[2][0]*a[3][3]*a[4][5]*a[5][1] - a[1][4]*a[2][0]*a[3][5]*a[4][1]*a[5][3] + a[1][4]*a[2][0]*a[3][5]*a[4][3]*a[5][1] + a[1][4]*a[2][1]*a[3][0]*a[4][3]*a[5][5] - a[1][4]*a[2][1]*a[3][0]*a[4][5]*a[5][3] - a[1][4]*a[2][1]*a[3][3]*a[4][0]*a[5][5] + a[1][4]*a[2][1]*a[3][3]*a[4][5]*a[5][0] + a[1][4]*a[2][1]*a[3][5]*a[4][0]*a[5][3] - a[1][4]*a[2][1]*a[3][5]*a[4][3]*a[5][0] - a[1][4]*a[2][3]*a[3][0]*a[4][1]*a[5][5] + a[1][4]*a[2][3]*a[3][0]*a[4][5]*a[5][1] + a[1][4]*a[2][3]*a[3][1]*a[4][0]*a[5][5] - a[1][4]*a[2][3]*a[3][1]*a[4][5]*a[5][0] - a[1][4]*a[2][3]*a[3][5]*a[4][0]*a[5][1] + a[1][4]*a[2][3]*a[3][5]*a[4][1]*a[5][0] + a[1][4]*a[2][5]*a[3][0]*a[4][1]*a[5][3] - a[1][4]*a[2][5]*a[3][0]*a[4][3]*a[5][1] - a[1][4]*a[2][5]*a[3][1]*a[4][0]*a[5][3] + a[1][4]*a[2][5]*a[3][1]*a[4][3]*a[5][0] + a[1][4]*a[2][5]*a[3][3]*a[4][0]*a[5][1] - a[1][4]*a[2][5]*a[3][3]*a[4][1]*a[5][0] + a[1][5]*a[2][0]*a[3][1]*a[4][3]*a[5][4] - a[1][5]*a[2][0]*a[3][1]*a[4][4]*a[5][3] - a[1][5]*a[2][0]*a[3][3]*a[4][1]*a[5][4] + a[1][5]*a[2][0]*a[3][3]*a[4][4]*a[5][1] + a[1][5]*a[2][0]*a[3][4]*a[4][1]*a[5][3] - a[1][5]*a[2][0]*a[3][4]*a[4][3]*a[5][1] - a[1][5]*a[2][1]*a[3][0]*a[4][3]*a[5][4] + a[1][5]*a[2][1]*a[3][0]*a[4][4]*a[5][3] + a[1][5]*a[2][1]*a[3][3]*a[4][0]*a[5][4] - a[1][5]*a[2][1]*a[3][3]*a[4][4]*a[5][0] - a[1][5]*a[2][1]*a[3][4]*a[4][0]*a[5][3] + a[1][5]*a[2][1]*a[3][4]*a[4][3]*a[5][0] + a[1][5]*a[2][3]*a[3][0]*a[4][1]*a[5][4] - a[1][5]*a[2][3]*a[3][0]*a[4][4]*a[5][1] - a[1][5]*a[2][3]*a[3][1]*a[4][0]*a[5][4] + a[1][5]*a[2][3]*a[3][1]*a[4][4]*a[5][0] + a[1][5]*a[2][3]*a[3][4]*a[4][0]*a[5][1] - a[1][5]*a[2][3]*a[3][4]*a[4][1]*a[5][0] - a[1][5]*a[2][4]*a[3][0]*a[4][1]*a[5][3] + a[1][5]*a[2][4]*a[3][0]*a[4][3]*a[5][1] + a[1][5]*a[2][4]*a[3][1]*a[4][0]*a[5][3] - a[1][5]*a[2][4]*a[3][1]*a[4][3]*a[5][0] - a[1][5]*a[2][4]*a[3][3]*a[4][0]*a[5][1] + a[1][5]*a[2][4]*a[3][3]*a[4][1]*a[5][0])/denom;
  invA[3][0] = -(a[1][0]*a[2][1]*a[3][2]*a[4][4]*a[5][5] - a[1][0]*a[2][1]*a[3][2]*a[4][5]*a[5][4] - a[1][0]*a[2][1]*a[3][4]*a[4][2]*a[5][5] + a[1][0]*a[2][1]*a[3][4]*a[4][5]*a[5][2] + a[1][0]*a[2][1]*a[3][5]*a[4][2]*a[5][4] - a[1][0]*a[2][1]*a[3][5]*a[4][4]*a[5][2] - a[1][0]*a[2][2]*a[3][1]*a[4][4]*a[5][5] + a[1][0]*a[2][2]*a[3][1]*a[4][5]*a[5][4] + a[1][0]*a[2][2]*a[3][4]*a[4][1]*a[5][5] - a[1][0]*a[2][2]*a[3][4]*a[4][5]*a[5][1] - a[1][0]*a[2][2]*a[3][5]*a[4][1]*a[5][4] + a[1][0]*a[2][2]*a[3][5]*a[4][4]*a[5][1] + a[1][0]*a[2][4]*a[3][1]*a[4][2]*a[5][5] - a[1][0]*a[2][4]*a[3][1]*a[4][5]*a[5][2] - a[1][0]*a[2][4]*a[3][2]*a[4][1]*a[5][5] + a[1][0]*a[2][4]*a[3][2]*a[4][5]*a[5][1] + a[1][0]*a[2][4]*a[3][5]*a[4][1]*a[5][2] - a[1][0]*a[2][4]*a[3][5]*a[4][2]*a[5][1] - a[1][0]*a[2][5]*a[3][1]*a[4][2]*a[5][4] + a[1][0]*a[2][5]*a[3][1]*a[4][4]*a[5][2] + a[1][0]*a[2][5]*a[3][2]*a[4][1]*a[5][4] - a[1][0]*a[2][5]*a[3][2]*a[4][4]*a[5][1] - a[1][0]*a[2][5]*a[3][4]*a[4][1]*a[5][2] + a[1][0]*a[2][5]*a[3][4]*a[4][2]*a[5][1] - a[1][1]*a[2][0]*a[3][2]*a[4][4]*a[5][5] + a[1][1]*a[2][0]*a[3][2]*a[4][5]*a[5][4] + a[1][1]*a[2][0]*a[3][4]*a[4][2]*a[5][5] - a[1][1]*a[2][0]*a[3][4]*a[4][5]*a[5][2] - a[1][1]*a[2][0]*a[3][5]*a[4][2]*a[5][4] + a[1][1]*a[2][0]*a[3][5]*a[4][4]*a[5][2] + a[1][1]*a[2][2]*a[3][0]*a[4][4]*a[5][5] - a[1][1]*a[2][2]*a[3][0]*a[4][5]*a[5][4] - a[1][1]*a[2][2]*a[3][4]*a[4][0]*a[5][5] + a[1][1]*a[2][2]*a[3][4]*a[4][5]*a[5][0] + a[1][1]*a[2][2]*a[3][5]*a[4][0]*a[5][4] - a[1][1]*a[2][2]*a[3][5]*a[4][4]*a[5][0] - a[1][1]*a[2][4]*a[3][0]*a[4][2]*a[5][5] + a[1][1]*a[2][4]*a[3][0]*a[4][5]*a[5][2] + a[1][1]*a[2][4]*a[3][2]*a[4][0]*a[5][5] - a[1][1]*a[2][4]*a[3][2]*a[4][5]*a[5][0] - a[1][1]*a[2][4]*a[3][5]*a[4][0]*a[5][2] + a[1][1]*a[2][4]*a[3][5]*a[4][2]*a[5][0] + a[1][1]*a[2][5]*a[3][0]*a[4][2]*a[5][4] - a[1][1]*a[2][5]*a[3][0]*a[4][4]*a[5][2] - a[1][1]*a[2][5]*a[3][2]*a[4][0]*a[5][4] + a[1][1]*a[2][5]*a[3][2]*a[4][4]*a[5][0] + a[1][1]*a[2][5]*a[3][4]*a[4][0]*a[5][2] - a[1][1]*a[2][5]*a[3][4]*a[4][2]*a[5][0] + a[1][2]*a[2][0]*a[3][1]*a[4][4]*a[5][5] - a[1][2]*a[2][0]*a[3][1]*a[4][5]*a[5][4] - a[1][2]*a[2][0]*a[3][4]*a[4][1]*a[5][5] + a[1][2]*a[2][0]*a[3][4]*a[4][5]*a[5][1] + a[1][2]*a[2][0]*a[3][5]*a[4][1]*a[5][4] - a[1][2]*a[2][0]*a[3][5]*a[4][4]*a[5][1] - a[1][2]*a[2][1]*a[3][0]*a[4][4]*a[5][5] + a[1][2]*a[2][1]*a[3][0]*a[4][5]*a[5][4] + a[1][2]*a[2][1]*a[3][4]*a[4][0]*a[5][5] - a[1][2]*a[2][1]*a[3][4]*a[4][5]*a[5][0] - a[1][2]*a[2][1]*a[3][5]*a[4][0]*a[5][4] + a[1][2]*a[2][1]*a[3][5]*a[4][4]*a[5][0] + a[1][2]*a[2][4]*a[3][0]*a[4][1]*a[5][5] - a[1][2]*a[2][4]*a[3][0]*a[4][5]*a[5][1] - a[1][2]*a[2][4]*a[3][1]*a[4][0]*a[5][5] + a[1][2]*a[2][4]*a[3][1]*a[4][5]*a[5][0] + a[1][2]*a[2][4]*a[3][5]*a[4][0]*a[5][1] - a[1][2]*a[2][4]*a[3][5]*a[4][1]*a[5][0] - a[1][2]*a[2][5]*a[3][0]*a[4][1]*a[5][4] + a[1][2]*a[2][5]*a[3][0]*a[4][4]*a[5][1] + a[1][2]*a[2][5]*a[3][1]*a[4][0]*a[5][4] - a[1][2]*a[2][5]*a[3][1]*a[4][4]*a[5][0] - a[1][2]*a[2][5]*a[3][4]*a[4][0]*a[5][1] + a[1][2]*a[2][5]*a[3][4]*a[4][1]*a[5][0] - a[1][4]*a[2][0]*a[3][1]*a[4][2]*a[5][5] + a[1][4]*a[2][0]*a[3][1]*a[4][5]*a[5][2] + a[1][4]*a[2][0]*a[3][2]*a[4][1]*a[5][5] - a[1][4]*a[2][0]*a[3][2]*a[4][5]*a[5][1] - a[1][4]*a[2][0]*a[3][5]*a[4][1]*a[5][2] + a[1][4]*a[2][0]*a[3][5]*a[4][2]*a[5][1] + a[1][4]*a[2][1]*a[3][0]*a[4][2]*a[5][5] - a[1][4]*a[2][1]*a[3][0]*a[4][5]*a[5][2] - a[1][4]*a[2][1]*a[3][2]*a[4][0]*a[5][5] + a[1][4]*a[2][1]*a[3][2]*a[4][5]*a[5][0] + a[1][4]*a[2][1]*a[3][5]*a[4][0]*a[5][2] - a[1][4]*a[2][1]*a[3][5]*a[4][2]*a[5][0] - a[1][4]*a[2][2]*a[3][0]*a[4][1]*a[5][5] + a[1][4]*a[2][2]*a[3][0]*a[4][5]*a[5][1] + a[1][4]*a[2][2]*a[3][1]*a[4][0]*a[5][5] - a[1][4]*a[2][2]*a[3][1]*a[4][5]*a[5][0] - a[1][4]*a[2][2]*a[3][5]*a[4][0]*a[5][1] + a[1][4]*a[2][2]*a[3][5]*a[4][1]*a[5][0] + a[1][4]*a[2][5]*a[3][0]*a[4][1]*a[5][2] - a[1][4]*a[2][5]*a[3][0]*a[4][2]*a[5][1] - a[1][4]*a[2][5]*a[3][1]*a[4][0]*a[5][2] + a[1][4]*a[2][5]*a[3][1]*a[4][2]*a[5][0] + a[1][4]*a[2][5]*a[3][2]*a[4][0]*a[5][1] - a[1][4]*a[2][5]*a[3][2]*a[4][1]*a[5][0] + a[1][5]*a[2][0]*a[3][1]*a[4][2]*a[5][4] - a[1][5]*a[2][0]*a[3][1]*a[4][4]*a[5][2] - a[1][5]*a[2][0]*a[3][2]*a[4][1]*a[5][4] + a[1][5]*a[2][0]*a[3][2]*a[4][4]*a[5][1] + a[1][5]*a[2][0]*a[3][4]*a[4][1]*a[5][2] - a[1][5]*a[2][0]*a[3][4]*a[4][2]*a[5][1] - a[1][5]*a[2][1]*a[3][0]*a[4][2]*a[5][4] + a[1][5]*a[2][1]*a[3][0]*a[4][4]*a[5][2] + a[1][5]*a[2][1]*a[3][2]*a[4][0]*a[5][4] - a[1][5]*a[2][1]*a[3][2]*a[4][4]*a[5][0] - a[1][5]*a[2][1]*a[3][4]*a[4][0]*a[5][2] + a[1][5]*a[2][1]*a[3][4]*a[4][2]*a[5][0] + a[1][5]*a[2][2]*a[3][0]*a[4][1]*a[5][4] - a[1][5]*a[2][2]*a[3][0]*a[4][4]*a[5][1] - a[1][5]*a[2][2]*a[3][1]*a[4][0]*a[5][4] + a[1][5]*a[2][2]*a[3][1]*a[4][4]*a[5][0] + a[1][5]*a[2][2]*a[3][4]*a[4][0]*a[5][1] - a[1][5]*a[2][2]*a[3][4]*a[4][1]*a[5][0] - a[1][5]*a[2][4]*a[3][0]*a[4][1]*a[5][2] + a[1][5]*a[2][4]*a[3][0]*a[4][2]*a[5][1] + a[1][5]*a[2][4]*a[3][1]*a[4][0]*a[5][2] - a[1][5]*a[2][4]*a[3][1]*a[4][2]*a[5][0] - a[1][5]*a[2][4]*a[3][2]*a[4][0]*a[5][1] + a[1][5]*a[2][4]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[4][0] =  (a[1][0]*a[2][1]*a[3][2]*a[4][3]*a[5][5] - a[1][0]*a[2][1]*a[3][2]*a[4][5]*a[5][3] - a[1][0]*a[2][1]*a[3][3]*a[4][2]*a[5][5] + a[1][0]*a[2][1]*a[3][3]*a[4][5]*a[5][2] + a[1][0]*a[2][1]*a[3][5]*a[4][2]*a[5][3] - a[1][0]*a[2][1]*a[3][5]*a[4][3]*a[5][2] - a[1][0]*a[2][2]*a[3][1]*a[4][3]*a[5][5] + a[1][0]*a[2][2]*a[3][1]*a[4][5]*a[5][3] + a[1][0]*a[2][2]*a[3][3]*a[4][1]*a[5][5] - a[1][0]*a[2][2]*a[3][3]*a[4][5]*a[5][1] - a[1][0]*a[2][2]*a[3][5]*a[4][1]*a[5][3] + a[1][0]*a[2][2]*a[3][5]*a[4][3]*a[5][1] + a[1][0]*a[2][3]*a[3][1]*a[4][2]*a[5][5] - a[1][0]*a[2][3]*a[3][1]*a[4][5]*a[5][2] - a[1][0]*a[2][3]*a[3][2]*a[4][1]*a[5][5] + a[1][0]*a[2][3]*a[3][2]*a[4][5]*a[5][1] + a[1][0]*a[2][3]*a[3][5]*a[4][1]*a[5][2] - a[1][0]*a[2][3]*a[3][5]*a[4][2]*a[5][1] - a[1][0]*a[2][5]*a[3][1]*a[4][2]*a[5][3] + a[1][0]*a[2][5]*a[3][1]*a[4][3]*a[5][2] + a[1][0]*a[2][5]*a[3][2]*a[4][1]*a[5][3] - a[1][0]*a[2][5]*a[3][2]*a[4][3]*a[5][1] - a[1][0]*a[2][5]*a[3][3]*a[4][1]*a[5][2] + a[1][0]*a[2][5]*a[3][3]*a[4][2]*a[5][1] - a[1][1]*a[2][0]*a[3][2]*a[4][3]*a[5][5] + a[1][1]*a[2][0]*a[3][2]*a[4][5]*a[5][3] + a[1][1]*a[2][0]*a[3][3]*a[4][2]*a[5][5] - a[1][1]*a[2][0]*a[3][3]*a[4][5]*a[5][2] - a[1][1]*a[2][0]*a[3][5]*a[4][2]*a[5][3] + a[1][1]*a[2][0]*a[3][5]*a[4][3]*a[5][2] + a[1][1]*a[2][2]*a[3][0]*a[4][3]*a[5][5] - a[1][1]*a[2][2]*a[3][0]*a[4][5]*a[5][3] - a[1][1]*a[2][2]*a[3][3]*a[4][0]*a[5][5] + a[1][1]*a[2][2]*a[3][3]*a[4][5]*a[5][0] + a[1][1]*a[2][2]*a[3][5]*a[4][0]*a[5][3] - a[1][1]*a[2][2]*a[3][5]*a[4][3]*a[5][0] - a[1][1]*a[2][3]*a[3][0]*a[4][2]*a[5][5] + a[1][1]*a[2][3]*a[3][0]*a[4][5]*a[5][2] + a[1][1]*a[2][3]*a[3][2]*a[4][0]*a[5][5] - a[1][1]*a[2][3]*a[3][2]*a[4][5]*a[5][0] - a[1][1]*a[2][3]*a[3][5]*a[4][0]*a[5][2] + a[1][1]*a[2][3]*a[3][5]*a[4][2]*a[5][0] + a[1][1]*a[2][5]*a[3][0]*a[4][2]*a[5][3] - a[1][1]*a[2][5]*a[3][0]*a[4][3]*a[5][2] - a[1][1]*a[2][5]*a[3][2]*a[4][0]*a[5][3] + a[1][1]*a[2][5]*a[3][2]*a[4][3]*a[5][0] + a[1][1]*a[2][5]*a[3][3]*a[4][0]*a[5][2] - a[1][1]*a[2][5]*a[3][3]*a[4][2]*a[5][0] + a[1][2]*a[2][0]*a[3][1]*a[4][3]*a[5][5] - a[1][2]*a[2][0]*a[3][1]*a[4][5]*a[5][3] - a[1][2]*a[2][0]*a[3][3]*a[4][1]*a[5][5] + a[1][2]*a[2][0]*a[3][3]*a[4][5]*a[5][1] + a[1][2]*a[2][0]*a[3][5]*a[4][1]*a[5][3] - a[1][2]*a[2][0]*a[3][5]*a[4][3]*a[5][1] - a[1][2]*a[2][1]*a[3][0]*a[4][3]*a[5][5] + a[1][2]*a[2][1]*a[3][0]*a[4][5]*a[5][3] + a[1][2]*a[2][1]*a[3][3]*a[4][0]*a[5][5] - a[1][2]*a[2][1]*a[3][3]*a[4][5]*a[5][0] - a[1][2]*a[2][1]*a[3][5]*a[4][0]*a[5][3] + a[1][2]*a[2][1]*a[3][5]*a[4][3]*a[5][0] + a[1][2]*a[2][3]*a[3][0]*a[4][1]*a[5][5] - a[1][2]*a[2][3]*a[3][0]*a[4][5]*a[5][1] - a[1][2]*a[2][3]*a[3][1]*a[4][0]*a[5][5] + a[1][2]*a[2][3]*a[3][1]*a[4][5]*a[5][0] + a[1][2]*a[2][3]*a[3][5]*a[4][0]*a[5][1] - a[1][2]*a[2][3]*a[3][5]*a[4][1]*a[5][0] - a[1][2]*a[2][5]*a[3][0]*a[4][1]*a[5][3] + a[1][2]*a[2][5]*a[3][0]*a[4][3]*a[5][1] + a[1][2]*a[2][5]*a[3][1]*a[4][0]*a[5][3] - a[1][2]*a[2][5]*a[3][1]*a[4][3]*a[5][0] - a[1][2]*a[2][5]*a[3][3]*a[4][0]*a[5][1] + a[1][2]*a[2][5]*a[3][3]*a[4][1]*a[5][0] - a[1][3]*a[2][0]*a[3][1]*a[4][2]*a[5][5] + a[1][3]*a[2][0]*a[3][1]*a[4][5]*a[5][2] + a[1][3]*a[2][0]*a[3][2]*a[4][1]*a[5][5] - a[1][3]*a[2][0]*a[3][2]*a[4][5]*a[5][1] - a[1][3]*a[2][0]*a[3][5]*a[4][1]*a[5][2] + a[1][3]*a[2][0]*a[3][5]*a[4][2]*a[5][1] + a[1][3]*a[2][1]*a[3][0]*a[4][2]*a[5][5] - a[1][3]*a[2][1]*a[3][0]*a[4][5]*a[5][2] - a[1][3]*a[2][1]*a[3][2]*a[4][0]*a[5][5] + a[1][3]*a[2][1]*a[3][2]*a[4][5]*a[5][0] + a[1][3]*a[2][1]*a[3][5]*a[4][0]*a[5][2] - a[1][3]*a[2][1]*a[3][5]*a[4][2]*a[5][0] - a[1][3]*a[2][2]*a[3][0]*a[4][1]*a[5][5] + a[1][3]*a[2][2]*a[3][0]*a[4][5]*a[5][1] + a[1][3]*a[2][2]*a[3][1]*a[4][0]*a[5][5] - a[1][3]*a[2][2]*a[3][1]*a[4][5]*a[5][0] - a[1][3]*a[2][2]*a[3][5]*a[4][0]*a[5][1] + a[1][3]*a[2][2]*a[3][5]*a[4][1]*a[5][0] + a[1][3]*a[2][5]*a[3][0]*a[4][1]*a[5][2] - a[1][3]*a[2][5]*a[3][0]*a[4][2]*a[5][1] - a[1][3]*a[2][5]*a[3][1]*a[4][0]*a[5][2] + a[1][3]*a[2][5]*a[3][1]*a[4][2]*a[5][0] + a[1][3]*a[2][5]*a[3][2]*a[4][0]*a[5][1] - a[1][3]*a[2][5]*a[3][2]*a[4][1]*a[5][0] + a[1][5]*a[2][0]*a[3][1]*a[4][2]*a[5][3] - a[1][5]*a[2][0]*a[3][1]*a[4][3]*a[5][2] - a[1][5]*a[2][0]*a[3][2]*a[4][1]*a[5][3] + a[1][5]*a[2][0]*a[3][2]*a[4][3]*a[5][1] + a[1][5]*a[2][0]*a[3][3]*a[4][1]*a[5][2] - a[1][5]*a[2][0]*a[3][3]*a[4][2]*a[5][1] - a[1][5]*a[2][1]*a[3][0]*a[4][2]*a[5][3] + a[1][5]*a[2][1]*a[3][0]*a[4][3]*a[5][2] + a[1][5]*a[2][1]*a[3][2]*a[4][0]*a[5][3] - a[1][5]*a[2][1]*a[3][2]*a[4][3]*a[5][0] - a[1][5]*a[2][1]*a[3][3]*a[4][0]*a[5][2] + a[1][5]*a[2][1]*a[3][3]*a[4][2]*a[5][0] + a[1][5]*a[2][2]*a[3][0]*a[4][1]*a[5][3] - a[1][5]*a[2][2]*a[3][0]*a[4][3]*a[5][1] - a[1][5]*a[2][2]*a[3][1]*a[4][0]*a[5][3] + a[1][5]*a[2][2]*a[3][1]*a[4][3]*a[5][0] + a[1][5]*a[2][2]*a[3][3]*a[4][0]*a[5][1] - a[1][5]*a[2][2]*a[3][3]*a[4][1]*a[5][0] - a[1][5]*a[2][3]*a[3][0]*a[4][1]*a[5][2] + a[1][5]*a[2][3]*a[3][0]*a[4][2]*a[5][1] + a[1][5]*a[2][3]*a[3][1]*a[4][0]*a[5][2] - a[1][5]*a[2][3]*a[3][1]*a[4][2]*a[5][0] - a[1][5]*a[2][3]*a[3][2]*a[4][0]*a[5][1] + a[1][5]*a[2][3]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[5][0] = -(a[1][0]*a[2][1]*a[3][2]*a[4][3]*a[5][4] - a[1][0]*a[2][1]*a[3][2]*a[4][4]*a[5][3] - a[1][0]*a[2][1]*a[3][3]*a[4][2]*a[5][4] + a[1][0]*a[2][1]*a[3][3]*a[4][4]*a[5][2] + a[1][0]*a[2][1]*a[3][4]*a[4][2]*a[5][3] - a[1][0]*a[2][1]*a[3][4]*a[4][3]*a[5][2] - a[1][0]*a[2][2]*a[3][1]*a[4][3]*a[5][4] + a[1][0]*a[2][2]*a[3][1]*a[4][4]*a[5][3] + a[1][0]*a[2][2]*a[3][3]*a[4][1]*a[5][4] - a[1][0]*a[2][2]*a[3][3]*a[4][4]*a[5][1] - a[1][0]*a[2][2]*a[3][4]*a[4][1]*a[5][3] + a[1][0]*a[2][2]*a[3][4]*a[4][3]*a[5][1] + a[1][0]*a[2][3]*a[3][1]*a[4][2]*a[5][4] - a[1][0]*a[2][3]*a[3][1]*a[4][4]*a[5][2] - a[1][0]*a[2][3]*a[3][2]*a[4][1]*a[5][4] + a[1][0]*a[2][3]*a[3][2]*a[4][4]*a[5][1] + a[1][0]*a[2][3]*a[3][4]*a[4][1]*a[5][2] - a[1][0]*a[2][3]*a[3][4]*a[4][2]*a[5][1] - a[1][0]*a[2][4]*a[3][1]*a[4][2]*a[5][3] + a[1][0]*a[2][4]*a[3][1]*a[4][3]*a[5][2] + a[1][0]*a[2][4]*a[3][2]*a[4][1]*a[5][3] - a[1][0]*a[2][4]*a[3][2]*a[4][3]*a[5][1] - a[1][0]*a[2][4]*a[3][3]*a[4][1]*a[5][2] + a[1][0]*a[2][4]*a[3][3]*a[4][2]*a[5][1] - a[1][1]*a[2][0]*a[3][2]*a[4][3]*a[5][4] + a[1][1]*a[2][0]*a[3][2]*a[4][4]*a[5][3] + a[1][1]*a[2][0]*a[3][3]*a[4][2]*a[5][4] - a[1][1]*a[2][0]*a[3][3]*a[4][4]*a[5][2] - a[1][1]*a[2][0]*a[3][4]*a[4][2]*a[5][3] + a[1][1]*a[2][0]*a[3][4]*a[4][3]*a[5][2] + a[1][1]*a[2][2]*a[3][0]*a[4][3]*a[5][4] - a[1][1]*a[2][2]*a[3][0]*a[4][4]*a[5][3] - a[1][1]*a[2][2]*a[3][3]*a[4][0]*a[5][4] + a[1][1]*a[2][2]*a[3][3]*a[4][4]*a[5][0] + a[1][1]*a[2][2]*a[3][4]*a[4][0]*a[5][3] - a[1][1]*a[2][2]*a[3][4]*a[4][3]*a[5][0] - a[1][1]*a[2][3]*a[3][0]*a[4][2]*a[5][4] + a[1][1]*a[2][3]*a[3][0]*a[4][4]*a[5][2] + a[1][1]*a[2][3]*a[3][2]*a[4][0]*a[5][4] - a[1][1]*a[2][3]*a[3][2]*a[4][4]*a[5][0] - a[1][1]*a[2][3]*a[3][4]*a[4][0]*a[5][2] + a[1][1]*a[2][3]*a[3][4]*a[4][2]*a[5][0] + a[1][1]*a[2][4]*a[3][0]*a[4][2]*a[5][3] - a[1][1]*a[2][4]*a[3][0]*a[4][3]*a[5][2] - a[1][1]*a[2][4]*a[3][2]*a[4][0]*a[5][3] + a[1][1]*a[2][4]*a[3][2]*a[4][3]*a[5][0] + a[1][1]*a[2][4]*a[3][3]*a[4][0]*a[5][2] - a[1][1]*a[2][4]*a[3][3]*a[4][2]*a[5][0] + a[1][2]*a[2][0]*a[3][1]*a[4][3]*a[5][4] - a[1][2]*a[2][0]*a[3][1]*a[4][4]*a[5][3] - a[1][2]*a[2][0]*a[3][3]*a[4][1]*a[5][4] + a[1][2]*a[2][0]*a[3][3]*a[4][4]*a[5][1] + a[1][2]*a[2][0]*a[3][4]*a[4][1]*a[5][3] - a[1][2]*a[2][0]*a[3][4]*a[4][3]*a[5][1] - a[1][2]*a[2][1]*a[3][0]*a[4][3]*a[5][4] + a[1][2]*a[2][1]*a[3][0]*a[4][4]*a[5][3] + a[1][2]*a[2][1]*a[3][3]*a[4][0]*a[5][4] - a[1][2]*a[2][1]*a[3][3]*a[4][4]*a[5][0] - a[1][2]*a[2][1]*a[3][4]*a[4][0]*a[5][3] + a[1][2]*a[2][1]*a[3][4]*a[4][3]*a[5][0] + a[1][2]*a[2][3]*a[3][0]*a[4][1]*a[5][4] - a[1][2]*a[2][3]*a[3][0]*a[4][4]*a[5][1] - a[1][2]*a[2][3]*a[3][1]*a[4][0]*a[5][4] + a[1][2]*a[2][3]*a[3][1]*a[4][4]*a[5][0] + a[1][2]*a[2][3]*a[3][4]*a[4][0]*a[5][1] - a[1][2]*a[2][3]*a[3][4]*a[4][1]*a[5][0] - a[1][2]*a[2][4]*a[3][0]*a[4][1]*a[5][3] + a[1][2]*a[2][4]*a[3][0]*a[4][3]*a[5][1] + a[1][2]*a[2][4]*a[3][1]*a[4][0]*a[5][3] - a[1][2]*a[2][4]*a[3][1]*a[4][3]*a[5][0] - a[1][2]*a[2][4]*a[3][3]*a[4][0]*a[5][1] + a[1][2]*a[2][4]*a[3][3]*a[4][1]*a[5][0] - a[1][3]*a[2][0]*a[3][1]*a[4][2]*a[5][4] + a[1][3]*a[2][0]*a[3][1]*a[4][4]*a[5][2] + a[1][3]*a[2][0]*a[3][2]*a[4][1]*a[5][4] - a[1][3]*a[2][0]*a[3][2]*a[4][4]*a[5][1] - a[1][3]*a[2][0]*a[3][4]*a[4][1]*a[5][2] + a[1][3]*a[2][0]*a[3][4]*a[4][2]*a[5][1] + a[1][3]*a[2][1]*a[3][0]*a[4][2]*a[5][4] - a[1][3]*a[2][1]*a[3][0]*a[4][4]*a[5][2] - a[1][3]*a[2][1]*a[3][2]*a[4][0]*a[5][4] + a[1][3]*a[2][1]*a[3][2]*a[4][4]*a[5][0] + a[1][3]*a[2][1]*a[3][4]*a[4][0]*a[5][2] - a[1][3]*a[2][1]*a[3][4]*a[4][2]*a[5][0] - a[1][3]*a[2][2]*a[3][0]*a[4][1]*a[5][4] + a[1][3]*a[2][2]*a[3][0]*a[4][4]*a[5][1] + a[1][3]*a[2][2]*a[3][1]*a[4][0]*a[5][4] - a[1][3]*a[2][2]*a[3][1]*a[4][4]*a[5][0] - a[1][3]*a[2][2]*a[3][4]*a[4][0]*a[5][1] + a[1][3]*a[2][2]*a[3][4]*a[4][1]*a[5][0] + a[1][3]*a[2][4]*a[3][0]*a[4][1]*a[5][2] - a[1][3]*a[2][4]*a[3][0]*a[4][2]*a[5][1] - a[1][3]*a[2][4]*a[3][1]*a[4][0]*a[5][2] + a[1][3]*a[2][4]*a[3][1]*a[4][2]*a[5][0] + a[1][3]*a[2][4]*a[3][2]*a[4][0]*a[5][1] - a[1][3]*a[2][4]*a[3][2]*a[4][1]*a[5][0] + a[1][4]*a[2][0]*a[3][1]*a[4][2]*a[5][3] - a[1][4]*a[2][0]*a[3][1]*a[4][3]*a[5][2] - a[1][4]*a[2][0]*a[3][2]*a[4][1]*a[5][3] + a[1][4]*a[2][0]*a[3][2]*a[4][3]*a[5][1] + a[1][4]*a[2][0]*a[3][3]*a[4][1]*a[5][2] - a[1][4]*a[2][0]*a[3][3]*a[4][2]*a[5][1] - a[1][4]*a[2][1]*a[3][0]*a[4][2]*a[5][3] + a[1][4]*a[2][1]*a[3][0]*a[4][3]*a[5][2] + a[1][4]*a[2][1]*a[3][2]*a[4][0]*a[5][3] - a[1][4]*a[2][1]*a[3][2]*a[4][3]*a[5][0] - a[1][4]*a[2][1]*a[3][3]*a[4][0]*a[5][2] + a[1][4]*a[2][1]*a[3][3]*a[4][2]*a[5][0] + a[1][4]*a[2][2]*a[3][0]*a[4][1]*a[5][3] - a[1][4]*a[2][2]*a[3][0]*a[4][3]*a[5][1] - a[1][4]*a[2][2]*a[3][1]*a[4][0]*a[5][3] + a[1][4]*a[2][2]*a[3][1]*a[4][3]*a[5][0] + a[1][4]*a[2][2]*a[3][3]*a[4][0]*a[5][1] - a[1][4]*a[2][2]*a[3][3]*a[4][1]*a[5][0] - a[1][4]*a[2][3]*a[3][0]*a[4][1]*a[5][2] + a[1][4]*a[2][3]*a[3][0]*a[4][2]*a[5][1] + a[1][4]*a[2][3]*a[3][1]*a[4][0]*a[5][2] - a[1][4]*a[2][3]*a[3][1]*a[4][2]*a[5][0] - a[1][4]*a[2][3]*a[3][2]*a[4][0]*a[5][1] + a[1][4]*a[2][3]*a[3][2]*a[4][1]*a[5][0])/denom;

  invA[0][1] = -(a[0][1]*a[2][2]*a[3][3]*a[4][4]*a[5][5] - a[0][1]*a[2][2]*a[3][3]*a[4][5]*a[5][4] - a[0][1]*a[2][2]*a[3][4]*a[4][3]*a[5][5] + a[0][1]*a[2][2]*a[3][4]*a[4][5]*a[5][3] + a[0][1]*a[2][2]*a[3][5]*a[4][3]*a[5][4] - a[0][1]*a[2][2]*a[3][5]*a[4][4]*a[5][3] - a[0][1]*a[2][3]*a[3][2]*a[4][4]*a[5][5] + a[0][1]*a[2][3]*a[3][2]*a[4][5]*a[5][4] + a[0][1]*a[2][3]*a[3][4]*a[4][2]*a[5][5] - a[0][1]*a[2][3]*a[3][4]*a[4][5]*a[5][2] - a[0][1]*a[2][3]*a[3][5]*a[4][2]*a[5][4] + a[0][1]*a[2][3]*a[3][5]*a[4][4]*a[5][2] + a[0][1]*a[2][4]*a[3][2]*a[4][3]*a[5][5] - a[0][1]*a[2][4]*a[3][2]*a[4][5]*a[5][3] - a[0][1]*a[2][4]*a[3][3]*a[4][2]*a[5][5] + a[0][1]*a[2][4]*a[3][3]*a[4][5]*a[5][2] + a[0][1]*a[2][4]*a[3][5]*a[4][2]*a[5][3] - a[0][1]*a[2][4]*a[3][5]*a[4][3]*a[5][2] - a[0][1]*a[2][5]*a[3][2]*a[4][3]*a[5][4] + a[0][1]*a[2][5]*a[3][2]*a[4][4]*a[5][3] + a[0][1]*a[2][5]*a[3][3]*a[4][2]*a[5][4] - a[0][1]*a[2][5]*a[3][3]*a[4][4]*a[5][2] - a[0][1]*a[2][5]*a[3][4]*a[4][2]*a[5][3] + a[0][1]*a[2][5]*a[3][4]*a[4][3]*a[5][2] - a[0][2]*a[2][1]*a[3][3]*a[4][4]*a[5][5] + a[0][2]*a[2][1]*a[3][3]*a[4][5]*a[5][4] + a[0][2]*a[2][1]*a[3][4]*a[4][3]*a[5][5] - a[0][2]*a[2][1]*a[3][4]*a[4][5]*a[5][3] - a[0][2]*a[2][1]*a[3][5]*a[4][3]*a[5][4] + a[0][2]*a[2][1]*a[3][5]*a[4][4]*a[5][3] + a[0][2]*a[2][3]*a[3][1]*a[4][4]*a[5][5] - a[0][2]*a[2][3]*a[3][1]*a[4][5]*a[5][4] - a[0][2]*a[2][3]*a[3][4]*a[4][1]*a[5][5] + a[0][2]*a[2][3]*a[3][4]*a[4][5]*a[5][1] + a[0][2]*a[2][3]*a[3][5]*a[4][1]*a[5][4] - a[0][2]*a[2][3]*a[3][5]*a[4][4]*a[5][1] - a[0][2]*a[2][4]*a[3][1]*a[4][3]*a[5][5] + a[0][2]*a[2][4]*a[3][1]*a[4][5]*a[5][3] + a[0][2]*a[2][4]*a[3][3]*a[4][1]*a[5][5] - a[0][2]*a[2][4]*a[3][3]*a[4][5]*a[5][1] - a[0][2]*a[2][4]*a[3][5]*a[4][1]*a[5][3] + a[0][2]*a[2][4]*a[3][5]*a[4][3]*a[5][1] + a[0][2]*a[2][5]*a[3][1]*a[4][3]*a[5][4] - a[0][2]*a[2][5]*a[3][1]*a[4][4]*a[5][3] - a[0][2]*a[2][5]*a[3][3]*a[4][1]*a[5][4] + a[0][2]*a[2][5]*a[3][3]*a[4][4]*a[5][1] + a[0][2]*a[2][5]*a[3][4]*a[4][1]*a[5][3] - a[0][2]*a[2][5]*a[3][4]*a[4][3]*a[5][1] + a[0][3]*a[2][1]*a[3][2]*a[4][4]*a[5][5] - a[0][3]*a[2][1]*a[3][2]*a[4][5]*a[5][4] - a[0][3]*a[2][1]*a[3][4]*a[4][2]*a[5][5] + a[0][3]*a[2][1]*a[3][4]*a[4][5]*a[5][2] + a[0][3]*a[2][1]*a[3][5]*a[4][2]*a[5][4] - a[0][3]*a[2][1]*a[3][5]*a[4][4]*a[5][2] - a[0][3]*a[2][2]*a[3][1]*a[4][4]*a[5][5] + a[0][3]*a[2][2]*a[3][1]*a[4][5]*a[5][4] + a[0][3]*a[2][2]*a[3][4]*a[4][1]*a[5][5] - a[0][3]*a[2][2]*a[3][4]*a[4][5]*a[5][1] - a[0][3]*a[2][2]*a[3][5]*a[4][1]*a[5][4] + a[0][3]*a[2][2]*a[3][5]*a[4][4]*a[5][1] + a[0][3]*a[2][4]*a[3][1]*a[4][2]*a[5][5] - a[0][3]*a[2][4]*a[3][1]*a[4][5]*a[5][2] - a[0][3]*a[2][4]*a[3][2]*a[4][1]*a[5][5] + a[0][3]*a[2][4]*a[3][2]*a[4][5]*a[5][1] + a[0][3]*a[2][4]*a[3][5]*a[4][1]*a[5][2] - a[0][3]*a[2][4]*a[3][5]*a[4][2]*a[5][1] - a[0][3]*a[2][5]*a[3][1]*a[4][2]*a[5][4] + a[0][3]*a[2][5]*a[3][1]*a[4][4]*a[5][2] + a[0][3]*a[2][5]*a[3][2]*a[4][1]*a[5][4] - a[0][3]*a[2][5]*a[3][2]*a[4][4]*a[5][1] - a[0][3]*a[2][5]*a[3][4]*a[4][1]*a[5][2] + a[0][3]*a[2][5]*a[3][4]*a[4][2]*a[5][1] - a[0][4]*a[2][1]*a[3][2]*a[4][3]*a[5][5] + a[0][4]*a[2][1]*a[3][2]*a[4][5]*a[5][3] + a[0][4]*a[2][1]*a[3][3]*a[4][2]*a[5][5] - a[0][4]*a[2][1]*a[3][3]*a[4][5]*a[5][2] - a[0][4]*a[2][1]*a[3][5]*a[4][2]*a[5][3] + a[0][4]*a[2][1]*a[3][5]*a[4][3]*a[5][2] + a[0][4]*a[2][2]*a[3][1]*a[4][3]*a[5][5] - a[0][4]*a[2][2]*a[3][1]*a[4][5]*a[5][3] - a[0][4]*a[2][2]*a[3][3]*a[4][1]*a[5][5] + a[0][4]*a[2][2]*a[3][3]*a[4][5]*a[5][1] + a[0][4]*a[2][2]*a[3][5]*a[4][1]*a[5][3] - a[0][4]*a[2][2]*a[3][5]*a[4][3]*a[5][1] - a[0][4]*a[2][3]*a[3][1]*a[4][2]*a[5][5] + a[0][4]*a[2][3]*a[3][1]*a[4][5]*a[5][2] + a[0][4]*a[2][3]*a[3][2]*a[4][1]*a[5][5] - a[0][4]*a[2][3]*a[3][2]*a[4][5]*a[5][1] - a[0][4]*a[2][3]*a[3][5]*a[4][1]*a[5][2] + a[0][4]*a[2][3]*a[3][5]*a[4][2]*a[5][1] + a[0][4]*a[2][5]*a[3][1]*a[4][2]*a[5][3] - a[0][4]*a[2][5]*a[3][1]*a[4][3]*a[5][2] - a[0][4]*a[2][5]*a[3][2]*a[4][1]*a[5][3] + a[0][4]*a[2][5]*a[3][2]*a[4][3]*a[5][1] + a[0][4]*a[2][5]*a[3][3]*a[4][1]*a[5][2] - a[0][4]*a[2][5]*a[3][3]*a[4][2]*a[5][1] + a[0][5]*a[2][1]*a[3][2]*a[4][3]*a[5][4] - a[0][5]*a[2][1]*a[3][2]*a[4][4]*a[5][3] - a[0][5]*a[2][1]*a[3][3]*a[4][2]*a[5][4] + a[0][5]*a[2][1]*a[3][3]*a[4][4]*a[5][2] + a[0][5]*a[2][1]*a[3][4]*a[4][2]*a[5][3] - a[0][5]*a[2][1]*a[3][4]*a[4][3]*a[5][2] - a[0][5]*a[2][2]*a[3][1]*a[4][3]*a[5][4] + a[0][5]*a[2][2]*a[3][1]*a[4][4]*a[5][3] + a[0][5]*a[2][2]*a[3][3]*a[4][1]*a[5][4] - a[0][5]*a[2][2]*a[3][3]*a[4][4]*a[5][1] - a[0][5]*a[2][2]*a[3][4]*a[4][1]*a[5][3] + a[0][5]*a[2][2]*a[3][4]*a[4][3]*a[5][1] + a[0][5]*a[2][3]*a[3][1]*a[4][2]*a[5][4] - a[0][5]*a[2][3]*a[3][1]*a[4][4]*a[5][2] - a[0][5]*a[2][3]*a[3][2]*a[4][1]*a[5][4] + a[0][5]*a[2][3]*a[3][2]*a[4][4]*a[5][1] + a[0][5]*a[2][3]*a[3][4]*a[4][1]*a[5][2] - a[0][5]*a[2][3]*a[3][4]*a[4][2]*a[5][1] - a[0][5]*a[2][4]*a[3][1]*a[4][2]*a[5][3] + a[0][5]*a[2][4]*a[3][1]*a[4][3]*a[5][2] + a[0][5]*a[2][4]*a[3][2]*a[4][1]*a[5][3] - a[0][5]*a[2][4]*a[3][2]*a[4][3]*a[5][1] - a[0][5]*a[2][4]*a[3][3]*a[4][1]*a[5][2] + a[0][5]*a[2][4]*a[3][3]*a[4][2]*a[5][1])/denom;
  invA[1][1] =  (a[0][0]*a[2][2]*a[3][3]*a[4][4]*a[5][5] - a[0][0]*a[2][2]*a[3][3]*a[4][5]*a[5][4] - a[0][0]*a[2][2]*a[3][4]*a[4][3]*a[5][5] + a[0][0]*a[2][2]*a[3][4]*a[4][5]*a[5][3] + a[0][0]*a[2][2]*a[3][5]*a[4][3]*a[5][4] - a[0][0]*a[2][2]*a[3][5]*a[4][4]*a[5][3] - a[0][0]*a[2][3]*a[3][2]*a[4][4]*a[5][5] + a[0][0]*a[2][3]*a[3][2]*a[4][5]*a[5][4] + a[0][0]*a[2][3]*a[3][4]*a[4][2]*a[5][5] - a[0][0]*a[2][3]*a[3][4]*a[4][5]*a[5][2] - a[0][0]*a[2][3]*a[3][5]*a[4][2]*a[5][4] + a[0][0]*a[2][3]*a[3][5]*a[4][4]*a[5][2] + a[0][0]*a[2][4]*a[3][2]*a[4][3]*a[5][5] - a[0][0]*a[2][4]*a[3][2]*a[4][5]*a[5][3] - a[0][0]*a[2][4]*a[3][3]*a[4][2]*a[5][5] + a[0][0]*a[2][4]*a[3][3]*a[4][5]*a[5][2] + a[0][0]*a[2][4]*a[3][5]*a[4][2]*a[5][3] - a[0][0]*a[2][4]*a[3][5]*a[4][3]*a[5][2] - a[0][0]*a[2][5]*a[3][2]*a[4][3]*a[5][4] + a[0][0]*a[2][5]*a[3][2]*a[4][4]*a[5][3] + a[0][0]*a[2][5]*a[3][3]*a[4][2]*a[5][4] - a[0][0]*a[2][5]*a[3][3]*a[4][4]*a[5][2] - a[0][0]*a[2][5]*a[3][4]*a[4][2]*a[5][3] + a[0][0]*a[2][5]*a[3][4]*a[4][3]*a[5][2] - a[0][2]*a[2][0]*a[3][3]*a[4][4]*a[5][5] + a[0][2]*a[2][0]*a[3][3]*a[4][5]*a[5][4] + a[0][2]*a[2][0]*a[3][4]*a[4][3]*a[5][5] - a[0][2]*a[2][0]*a[3][4]*a[4][5]*a[5][3] - a[0][2]*a[2][0]*a[3][5]*a[4][3]*a[5][4] + a[0][2]*a[2][0]*a[3][5]*a[4][4]*a[5][3] + a[0][2]*a[2][3]*a[3][0]*a[4][4]*a[5][5] - a[0][2]*a[2][3]*a[3][0]*a[4][5]*a[5][4] - a[0][2]*a[2][3]*a[3][4]*a[4][0]*a[5][5] + a[0][2]*a[2][3]*a[3][4]*a[4][5]*a[5][0] + a[0][2]*a[2][3]*a[3][5]*a[4][0]*a[5][4] - a[0][2]*a[2][3]*a[3][5]*a[4][4]*a[5][0] - a[0][2]*a[2][4]*a[3][0]*a[4][3]*a[5][5] + a[0][2]*a[2][4]*a[3][0]*a[4][5]*a[5][3] + a[0][2]*a[2][4]*a[3][3]*a[4][0]*a[5][5] - a[0][2]*a[2][4]*a[3][3]*a[4][5]*a[5][0] - a[0][2]*a[2][4]*a[3][5]*a[4][0]*a[5][3] + a[0][2]*a[2][4]*a[3][5]*a[4][3]*a[5][0] + a[0][2]*a[2][5]*a[3][0]*a[4][3]*a[5][4] - a[0][2]*a[2][5]*a[3][0]*a[4][4]*a[5][3] - a[0][2]*a[2][5]*a[3][3]*a[4][0]*a[5][4] + a[0][2]*a[2][5]*a[3][3]*a[4][4]*a[5][0] + a[0][2]*a[2][5]*a[3][4]*a[4][0]*a[5][3] - a[0][2]*a[2][5]*a[3][4]*a[4][3]*a[5][0] + a[0][3]*a[2][0]*a[3][2]*a[4][4]*a[5][5] - a[0][3]*a[2][0]*a[3][2]*a[4][5]*a[5][4] - a[0][3]*a[2][0]*a[3][4]*a[4][2]*a[5][5] + a[0][3]*a[2][0]*a[3][4]*a[4][5]*a[5][2] + a[0][3]*a[2][0]*a[3][5]*a[4][2]*a[5][4] - a[0][3]*a[2][0]*a[3][5]*a[4][4]*a[5][2] - a[0][3]*a[2][2]*a[3][0]*a[4][4]*a[5][5] + a[0][3]*a[2][2]*a[3][0]*a[4][5]*a[5][4] + a[0][3]*a[2][2]*a[3][4]*a[4][0]*a[5][5] - a[0][3]*a[2][2]*a[3][4]*a[4][5]*a[5][0] - a[0][3]*a[2][2]*a[3][5]*a[4][0]*a[5][4] + a[0][3]*a[2][2]*a[3][5]*a[4][4]*a[5][0] + a[0][3]*a[2][4]*a[3][0]*a[4][2]*a[5][5] - a[0][3]*a[2][4]*a[3][0]*a[4][5]*a[5][2] - a[0][3]*a[2][4]*a[3][2]*a[4][0]*a[5][5] + a[0][3]*a[2][4]*a[3][2]*a[4][5]*a[5][0] + a[0][3]*a[2][4]*a[3][5]*a[4][0]*a[5][2] - a[0][3]*a[2][4]*a[3][5]*a[4][2]*a[5][0] - a[0][3]*a[2][5]*a[3][0]*a[4][2]*a[5][4] + a[0][3]*a[2][5]*a[3][0]*a[4][4]*a[5][2] + a[0][3]*a[2][5]*a[3][2]*a[4][0]*a[5][4] - a[0][3]*a[2][5]*a[3][2]*a[4][4]*a[5][0] - a[0][3]*a[2][5]*a[3][4]*a[4][0]*a[5][2] + a[0][3]*a[2][5]*a[3][4]*a[4][2]*a[5][0] - a[0][4]*a[2][0]*a[3][2]*a[4][3]*a[5][5] + a[0][4]*a[2][0]*a[3][2]*a[4][5]*a[5][3] + a[0][4]*a[2][0]*a[3][3]*a[4][2]*a[5][5] - a[0][4]*a[2][0]*a[3][3]*a[4][5]*a[5][2] - a[0][4]*a[2][0]*a[3][5]*a[4][2]*a[5][3] + a[0][4]*a[2][0]*a[3][5]*a[4][3]*a[5][2] + a[0][4]*a[2][2]*a[3][0]*a[4][3]*a[5][5] - a[0][4]*a[2][2]*a[3][0]*a[4][5]*a[5][3] - a[0][4]*a[2][2]*a[3][3]*a[4][0]*a[5][5] + a[0][4]*a[2][2]*a[3][3]*a[4][5]*a[5][0] + a[0][4]*a[2][2]*a[3][5]*a[4][0]*a[5][3] - a[0][4]*a[2][2]*a[3][5]*a[4][3]*a[5][0] - a[0][4]*a[2][3]*a[3][0]*a[4][2]*a[5][5] + a[0][4]*a[2][3]*a[3][0]*a[4][5]*a[5][2] + a[0][4]*a[2][3]*a[3][2]*a[4][0]*a[5][5] - a[0][4]*a[2][3]*a[3][2]*a[4][5]*a[5][0] - a[0][4]*a[2][3]*a[3][5]*a[4][0]*a[5][2] + a[0][4]*a[2][3]*a[3][5]*a[4][2]*a[5][0] + a[0][4]*a[2][5]*a[3][0]*a[4][2]*a[5][3] - a[0][4]*a[2][5]*a[3][0]*a[4][3]*a[5][2] - a[0][4]*a[2][5]*a[3][2]*a[4][0]*a[5][3] + a[0][4]*a[2][5]*a[3][2]*a[4][3]*a[5][0] + a[0][4]*a[2][5]*a[3][3]*a[4][0]*a[5][2] - a[0][4]*a[2][5]*a[3][3]*a[4][2]*a[5][0] + a[0][5]*a[2][0]*a[3][2]*a[4][3]*a[5][4] - a[0][5]*a[2][0]*a[3][2]*a[4][4]*a[5][3] - a[0][5]*a[2][0]*a[3][3]*a[4][2]*a[5][4] + a[0][5]*a[2][0]*a[3][3]*a[4][4]*a[5][2] + a[0][5]*a[2][0]*a[3][4]*a[4][2]*a[5][3] - a[0][5]*a[2][0]*a[3][4]*a[4][3]*a[5][2] - a[0][5]*a[2][2]*a[3][0]*a[4][3]*a[5][4] + a[0][5]*a[2][2]*a[3][0]*a[4][4]*a[5][3] + a[0][5]*a[2][2]*a[3][3]*a[4][0]*a[5][4] - a[0][5]*a[2][2]*a[3][3]*a[4][4]*a[5][0] - a[0][5]*a[2][2]*a[3][4]*a[4][0]*a[5][3] + a[0][5]*a[2][2]*a[3][4]*a[4][3]*a[5][0] + a[0][5]*a[2][3]*a[3][0]*a[4][2]*a[5][4] - a[0][5]*a[2][3]*a[3][0]*a[4][4]*a[5][2] - a[0][5]*a[2][3]*a[3][2]*a[4][0]*a[5][4] + a[0][5]*a[2][3]*a[3][2]*a[4][4]*a[5][0] + a[0][5]*a[2][3]*a[3][4]*a[4][0]*a[5][2] - a[0][5]*a[2][3]*a[3][4]*a[4][2]*a[5][0] - a[0][5]*a[2][4]*a[3][0]*a[4][2]*a[5][3] + a[0][5]*a[2][4]*a[3][0]*a[4][3]*a[5][2] + a[0][5]*a[2][4]*a[3][2]*a[4][0]*a[5][3] - a[0][5]*a[2][4]*a[3][2]*a[4][3]*a[5][0] - a[0][5]*a[2][4]*a[3][3]*a[4][0]*a[5][2] + a[0][5]*a[2][4]*a[3][3]*a[4][2]*a[5][0])/denom;
  invA[2][1] = -(a[0][0]*a[2][1]*a[3][3]*a[4][4]*a[5][5] - a[0][0]*a[2][1]*a[3][3]*a[4][5]*a[5][4] - a[0][0]*a[2][1]*a[3][4]*a[4][3]*a[5][5] + a[0][0]*a[2][1]*a[3][4]*a[4][5]*a[5][3] + a[0][0]*a[2][1]*a[3][5]*a[4][3]*a[5][4] - a[0][0]*a[2][1]*a[3][5]*a[4][4]*a[5][3] - a[0][0]*a[2][3]*a[3][1]*a[4][4]*a[5][5] + a[0][0]*a[2][3]*a[3][1]*a[4][5]*a[5][4] + a[0][0]*a[2][3]*a[3][4]*a[4][1]*a[5][5] - a[0][0]*a[2][3]*a[3][4]*a[4][5]*a[5][1] - a[0][0]*a[2][3]*a[3][5]*a[4][1]*a[5][4] + a[0][0]*a[2][3]*a[3][5]*a[4][4]*a[5][1] + a[0][0]*a[2][4]*a[3][1]*a[4][3]*a[5][5] - a[0][0]*a[2][4]*a[3][1]*a[4][5]*a[5][3] - a[0][0]*a[2][4]*a[3][3]*a[4][1]*a[5][5] + a[0][0]*a[2][4]*a[3][3]*a[4][5]*a[5][1] + a[0][0]*a[2][4]*a[3][5]*a[4][1]*a[5][3] - a[0][0]*a[2][4]*a[3][5]*a[4][3]*a[5][1] - a[0][0]*a[2][5]*a[3][1]*a[4][3]*a[5][4] + a[0][0]*a[2][5]*a[3][1]*a[4][4]*a[5][3] + a[0][0]*a[2][5]*a[3][3]*a[4][1]*a[5][4] - a[0][0]*a[2][5]*a[3][3]*a[4][4]*a[5][1] - a[0][0]*a[2][5]*a[3][4]*a[4][1]*a[5][3] + a[0][0]*a[2][5]*a[3][4]*a[4][3]*a[5][1] - a[0][1]*a[2][0]*a[3][3]*a[4][4]*a[5][5] + a[0][1]*a[2][0]*a[3][3]*a[4][5]*a[5][4] + a[0][1]*a[2][0]*a[3][4]*a[4][3]*a[5][5] - a[0][1]*a[2][0]*a[3][4]*a[4][5]*a[5][3] - a[0][1]*a[2][0]*a[3][5]*a[4][3]*a[5][4] + a[0][1]*a[2][0]*a[3][5]*a[4][4]*a[5][3] + a[0][1]*a[2][3]*a[3][0]*a[4][4]*a[5][5] - a[0][1]*a[2][3]*a[3][0]*a[4][5]*a[5][4] - a[0][1]*a[2][3]*a[3][4]*a[4][0]*a[5][5] + a[0][1]*a[2][3]*a[3][4]*a[4][5]*a[5][0] + a[0][1]*a[2][3]*a[3][5]*a[4][0]*a[5][4] - a[0][1]*a[2][3]*a[3][5]*a[4][4]*a[5][0] - a[0][1]*a[2][4]*a[3][0]*a[4][3]*a[5][5] + a[0][1]*a[2][4]*a[3][0]*a[4][5]*a[5][3] + a[0][1]*a[2][4]*a[3][3]*a[4][0]*a[5][5] - a[0][1]*a[2][4]*a[3][3]*a[4][5]*a[5][0] - a[0][1]*a[2][4]*a[3][5]*a[4][0]*a[5][3] + a[0][1]*a[2][4]*a[3][5]*a[4][3]*a[5][0] + a[0][1]*a[2][5]*a[3][0]*a[4][3]*a[5][4] - a[0][1]*a[2][5]*a[3][0]*a[4][4]*a[5][3] - a[0][1]*a[2][5]*a[3][3]*a[4][0]*a[5][4] + a[0][1]*a[2][5]*a[3][3]*a[4][4]*a[5][0] + a[0][1]*a[2][5]*a[3][4]*a[4][0]*a[5][3] - a[0][1]*a[2][5]*a[3][4]*a[4][3]*a[5][0] + a[0][3]*a[2][0]*a[3][1]*a[4][4]*a[5][5] - a[0][3]*a[2][0]*a[3][1]*a[4][5]*a[5][4] - a[0][3]*a[2][0]*a[3][4]*a[4][1]*a[5][5] + a[0][3]*a[2][0]*a[3][4]*a[4][5]*a[5][1] + a[0][3]*a[2][0]*a[3][5]*a[4][1]*a[5][4] - a[0][3]*a[2][0]*a[3][5]*a[4][4]*a[5][1] - a[0][3]*a[2][1]*a[3][0]*a[4][4]*a[5][5] + a[0][3]*a[2][1]*a[3][0]*a[4][5]*a[5][4] + a[0][3]*a[2][1]*a[3][4]*a[4][0]*a[5][5] - a[0][3]*a[2][1]*a[3][4]*a[4][5]*a[5][0] - a[0][3]*a[2][1]*a[3][5]*a[4][0]*a[5][4] + a[0][3]*a[2][1]*a[3][5]*a[4][4]*a[5][0] + a[0][3]*a[2][4]*a[3][0]*a[4][1]*a[5][5] - a[0][3]*a[2][4]*a[3][0]*a[4][5]*a[5][1] - a[0][3]*a[2][4]*a[3][1]*a[4][0]*a[5][5] + a[0][3]*a[2][4]*a[3][1]*a[4][5]*a[5][0] + a[0][3]*a[2][4]*a[3][5]*a[4][0]*a[5][1] - a[0][3]*a[2][4]*a[3][5]*a[4][1]*a[5][0] - a[0][3]*a[2][5]*a[3][0]*a[4][1]*a[5][4] + a[0][3]*a[2][5]*a[3][0]*a[4][4]*a[5][1] + a[0][3]*a[2][5]*a[3][1]*a[4][0]*a[5][4] - a[0][3]*a[2][5]*a[3][1]*a[4][4]*a[5][0] - a[0][3]*a[2][5]*a[3][4]*a[4][0]*a[5][1] + a[0][3]*a[2][5]*a[3][4]*a[4][1]*a[5][0] - a[0][4]*a[2][0]*a[3][1]*a[4][3]*a[5][5] + a[0][4]*a[2][0]*a[3][1]*a[4][5]*a[5][3] + a[0][4]*a[2][0]*a[3][3]*a[4][1]*a[5][5] - a[0][4]*a[2][0]*a[3][3]*a[4][5]*a[5][1] - a[0][4]*a[2][0]*a[3][5]*a[4][1]*a[5][3] + a[0][4]*a[2][0]*a[3][5]*a[4][3]*a[5][1] + a[0][4]*a[2][1]*a[3][0]*a[4][3]*a[5][5] - a[0][4]*a[2][1]*a[3][0]*a[4][5]*a[5][3] - a[0][4]*a[2][1]*a[3][3]*a[4][0]*a[5][5] + a[0][4]*a[2][1]*a[3][3]*a[4][5]*a[5][0] + a[0][4]*a[2][1]*a[3][5]*a[4][0]*a[5][3] - a[0][4]*a[2][1]*a[3][5]*a[4][3]*a[5][0] - a[0][4]*a[2][3]*a[3][0]*a[4][1]*a[5][5] + a[0][4]*a[2][3]*a[3][0]*a[4][5]*a[5][1] + a[0][4]*a[2][3]*a[3][1]*a[4][0]*a[5][5] - a[0][4]*a[2][3]*a[3][1]*a[4][5]*a[5][0] - a[0][4]*a[2][3]*a[3][5]*a[4][0]*a[5][1] + a[0][4]*a[2][3]*a[3][5]*a[4][1]*a[5][0] + a[0][4]*a[2][5]*a[3][0]*a[4][1]*a[5][3] - a[0][4]*a[2][5]*a[3][0]*a[4][3]*a[5][1] - a[0][4]*a[2][5]*a[3][1]*a[4][0]*a[5][3] + a[0][4]*a[2][5]*a[3][1]*a[4][3]*a[5][0] + a[0][4]*a[2][5]*a[3][3]*a[4][0]*a[5][1] - a[0][4]*a[2][5]*a[3][3]*a[4][1]*a[5][0] + a[0][5]*a[2][0]*a[3][1]*a[4][3]*a[5][4] - a[0][5]*a[2][0]*a[3][1]*a[4][4]*a[5][3] - a[0][5]*a[2][0]*a[3][3]*a[4][1]*a[5][4] + a[0][5]*a[2][0]*a[3][3]*a[4][4]*a[5][1] + a[0][5]*a[2][0]*a[3][4]*a[4][1]*a[5][3] - a[0][5]*a[2][0]*a[3][4]*a[4][3]*a[5][1] - a[0][5]*a[2][1]*a[3][0]*a[4][3]*a[5][4] + a[0][5]*a[2][1]*a[3][0]*a[4][4]*a[5][3] + a[0][5]*a[2][1]*a[3][3]*a[4][0]*a[5][4] - a[0][5]*a[2][1]*a[3][3]*a[4][4]*a[5][0] - a[0][5]*a[2][1]*a[3][4]*a[4][0]*a[5][3] + a[0][5]*a[2][1]*a[3][4]*a[4][3]*a[5][0] + a[0][5]*a[2][3]*a[3][0]*a[4][1]*a[5][4] - a[0][5]*a[2][3]*a[3][0]*a[4][4]*a[5][1] - a[0][5]*a[2][3]*a[3][1]*a[4][0]*a[5][4] + a[0][5]*a[2][3]*a[3][1]*a[4][4]*a[5][0] + a[0][5]*a[2][3]*a[3][4]*a[4][0]*a[5][1] - a[0][5]*a[2][3]*a[3][4]*a[4][1]*a[5][0] - a[0][5]*a[2][4]*a[3][0]*a[4][1]*a[5][3] + a[0][5]*a[2][4]*a[3][0]*a[4][3]*a[5][1] + a[0][5]*a[2][4]*a[3][1]*a[4][0]*a[5][3] - a[0][5]*a[2][4]*a[3][1]*a[4][3]*a[5][0] - a[0][5]*a[2][4]*a[3][3]*a[4][0]*a[5][1] + a[0][5]*a[2][4]*a[3][3]*a[4][1]*a[5][0])/denom;
  invA[3][1] =  (a[0][0]*a[2][1]*a[3][2]*a[4][4]*a[5][5] - a[0][0]*a[2][1]*a[3][2]*a[4][5]*a[5][4] - a[0][0]*a[2][1]*a[3][4]*a[4][2]*a[5][5] + a[0][0]*a[2][1]*a[3][4]*a[4][5]*a[5][2] + a[0][0]*a[2][1]*a[3][5]*a[4][2]*a[5][4] - a[0][0]*a[2][1]*a[3][5]*a[4][4]*a[5][2] - a[0][0]*a[2][2]*a[3][1]*a[4][4]*a[5][5] + a[0][0]*a[2][2]*a[3][1]*a[4][5]*a[5][4] + a[0][0]*a[2][2]*a[3][4]*a[4][1]*a[5][5] - a[0][0]*a[2][2]*a[3][4]*a[4][5]*a[5][1] - a[0][0]*a[2][2]*a[3][5]*a[4][1]*a[5][4] + a[0][0]*a[2][2]*a[3][5]*a[4][4]*a[5][1] + a[0][0]*a[2][4]*a[3][1]*a[4][2]*a[5][5] - a[0][0]*a[2][4]*a[3][1]*a[4][5]*a[5][2] - a[0][0]*a[2][4]*a[3][2]*a[4][1]*a[5][5] + a[0][0]*a[2][4]*a[3][2]*a[4][5]*a[5][1] + a[0][0]*a[2][4]*a[3][5]*a[4][1]*a[5][2] - a[0][0]*a[2][4]*a[3][5]*a[4][2]*a[5][1] - a[0][0]*a[2][5]*a[3][1]*a[4][2]*a[5][4] + a[0][0]*a[2][5]*a[3][1]*a[4][4]*a[5][2] + a[0][0]*a[2][5]*a[3][2]*a[4][1]*a[5][4] - a[0][0]*a[2][5]*a[3][2]*a[4][4]*a[5][1] - a[0][0]*a[2][5]*a[3][4]*a[4][1]*a[5][2] + a[0][0]*a[2][5]*a[3][4]*a[4][2]*a[5][1] - a[0][1]*a[2][0]*a[3][2]*a[4][4]*a[5][5] + a[0][1]*a[2][0]*a[3][2]*a[4][5]*a[5][4] + a[0][1]*a[2][0]*a[3][4]*a[4][2]*a[5][5] - a[0][1]*a[2][0]*a[3][4]*a[4][5]*a[5][2] - a[0][1]*a[2][0]*a[3][5]*a[4][2]*a[5][4] + a[0][1]*a[2][0]*a[3][5]*a[4][4]*a[5][2] + a[0][1]*a[2][2]*a[3][0]*a[4][4]*a[5][5] - a[0][1]*a[2][2]*a[3][0]*a[4][5]*a[5][4] - a[0][1]*a[2][2]*a[3][4]*a[4][0]*a[5][5] + a[0][1]*a[2][2]*a[3][4]*a[4][5]*a[5][0] + a[0][1]*a[2][2]*a[3][5]*a[4][0]*a[5][4] - a[0][1]*a[2][2]*a[3][5]*a[4][4]*a[5][0] - a[0][1]*a[2][4]*a[3][0]*a[4][2]*a[5][5] + a[0][1]*a[2][4]*a[3][0]*a[4][5]*a[5][2] + a[0][1]*a[2][4]*a[3][2]*a[4][0]*a[5][5] - a[0][1]*a[2][4]*a[3][2]*a[4][5]*a[5][0] - a[0][1]*a[2][4]*a[3][5]*a[4][0]*a[5][2] + a[0][1]*a[2][4]*a[3][5]*a[4][2]*a[5][0] + a[0][1]*a[2][5]*a[3][0]*a[4][2]*a[5][4] - a[0][1]*a[2][5]*a[3][0]*a[4][4]*a[5][2] - a[0][1]*a[2][5]*a[3][2]*a[4][0]*a[5][4] + a[0][1]*a[2][5]*a[3][2]*a[4][4]*a[5][0] + a[0][1]*a[2][5]*a[3][4]*a[4][0]*a[5][2] - a[0][1]*a[2][5]*a[3][4]*a[4][2]*a[5][0] + a[0][2]*a[2][0]*a[3][1]*a[4][4]*a[5][5] - a[0][2]*a[2][0]*a[3][1]*a[4][5]*a[5][4] - a[0][2]*a[2][0]*a[3][4]*a[4][1]*a[5][5] + a[0][2]*a[2][0]*a[3][4]*a[4][5]*a[5][1] + a[0][2]*a[2][0]*a[3][5]*a[4][1]*a[5][4] - a[0][2]*a[2][0]*a[3][5]*a[4][4]*a[5][1] - a[0][2]*a[2][1]*a[3][0]*a[4][4]*a[5][5] + a[0][2]*a[2][1]*a[3][0]*a[4][5]*a[5][4] + a[0][2]*a[2][1]*a[3][4]*a[4][0]*a[5][5] - a[0][2]*a[2][1]*a[3][4]*a[4][5]*a[5][0] - a[0][2]*a[2][1]*a[3][5]*a[4][0]*a[5][4] + a[0][2]*a[2][1]*a[3][5]*a[4][4]*a[5][0] + a[0][2]*a[2][4]*a[3][0]*a[4][1]*a[5][5] - a[0][2]*a[2][4]*a[3][0]*a[4][5]*a[5][1] - a[0][2]*a[2][4]*a[3][1]*a[4][0]*a[5][5] + a[0][2]*a[2][4]*a[3][1]*a[4][5]*a[5][0] + a[0][2]*a[2][4]*a[3][5]*a[4][0]*a[5][1] - a[0][2]*a[2][4]*a[3][5]*a[4][1]*a[5][0] - a[0][2]*a[2][5]*a[3][0]*a[4][1]*a[5][4] + a[0][2]*a[2][5]*a[3][0]*a[4][4]*a[5][1] + a[0][2]*a[2][5]*a[3][1]*a[4][0]*a[5][4] - a[0][2]*a[2][5]*a[3][1]*a[4][4]*a[5][0] - a[0][2]*a[2][5]*a[3][4]*a[4][0]*a[5][1] + a[0][2]*a[2][5]*a[3][4]*a[4][1]*a[5][0] - a[0][4]*a[2][0]*a[3][1]*a[4][2]*a[5][5] + a[0][4]*a[2][0]*a[3][1]*a[4][5]*a[5][2] + a[0][4]*a[2][0]*a[3][2]*a[4][1]*a[5][5] - a[0][4]*a[2][0]*a[3][2]*a[4][5]*a[5][1] - a[0][4]*a[2][0]*a[3][5]*a[4][1]*a[5][2] + a[0][4]*a[2][0]*a[3][5]*a[4][2]*a[5][1] + a[0][4]*a[2][1]*a[3][0]*a[4][2]*a[5][5] - a[0][4]*a[2][1]*a[3][0]*a[4][5]*a[5][2] - a[0][4]*a[2][1]*a[3][2]*a[4][0]*a[5][5] + a[0][4]*a[2][1]*a[3][2]*a[4][5]*a[5][0] + a[0][4]*a[2][1]*a[3][5]*a[4][0]*a[5][2] - a[0][4]*a[2][1]*a[3][5]*a[4][2]*a[5][0] - a[0][4]*a[2][2]*a[3][0]*a[4][1]*a[5][5] + a[0][4]*a[2][2]*a[3][0]*a[4][5]*a[5][1] + a[0][4]*a[2][2]*a[3][1]*a[4][0]*a[5][5] - a[0][4]*a[2][2]*a[3][1]*a[4][5]*a[5][0] - a[0][4]*a[2][2]*a[3][5]*a[4][0]*a[5][1] + a[0][4]*a[2][2]*a[3][5]*a[4][1]*a[5][0] + a[0][4]*a[2][5]*a[3][0]*a[4][1]*a[5][2] - a[0][4]*a[2][5]*a[3][0]*a[4][2]*a[5][1] - a[0][4]*a[2][5]*a[3][1]*a[4][0]*a[5][2] + a[0][4]*a[2][5]*a[3][1]*a[4][2]*a[5][0] + a[0][4]*a[2][5]*a[3][2]*a[4][0]*a[5][1] - a[0][4]*a[2][5]*a[3][2]*a[4][1]*a[5][0] + a[0][5]*a[2][0]*a[3][1]*a[4][2]*a[5][4] - a[0][5]*a[2][0]*a[3][1]*a[4][4]*a[5][2] - a[0][5]*a[2][0]*a[3][2]*a[4][1]*a[5][4] + a[0][5]*a[2][0]*a[3][2]*a[4][4]*a[5][1] + a[0][5]*a[2][0]*a[3][4]*a[4][1]*a[5][2] - a[0][5]*a[2][0]*a[3][4]*a[4][2]*a[5][1] - a[0][5]*a[2][1]*a[3][0]*a[4][2]*a[5][4] + a[0][5]*a[2][1]*a[3][0]*a[4][4]*a[5][2] + a[0][5]*a[2][1]*a[3][2]*a[4][0]*a[5][4] - a[0][5]*a[2][1]*a[3][2]*a[4][4]*a[5][0] - a[0][5]*a[2][1]*a[3][4]*a[4][0]*a[5][2] + a[0][5]*a[2][1]*a[3][4]*a[4][2]*a[5][0] + a[0][5]*a[2][2]*a[3][0]*a[4][1]*a[5][4] - a[0][5]*a[2][2]*a[3][0]*a[4][4]*a[5][1] - a[0][5]*a[2][2]*a[3][1]*a[4][0]*a[5][4] + a[0][5]*a[2][2]*a[3][1]*a[4][4]*a[5][0] + a[0][5]*a[2][2]*a[3][4]*a[4][0]*a[5][1] - a[0][5]*a[2][2]*a[3][4]*a[4][1]*a[5][0] - a[0][5]*a[2][4]*a[3][0]*a[4][1]*a[5][2] + a[0][5]*a[2][4]*a[3][0]*a[4][2]*a[5][1] + a[0][5]*a[2][4]*a[3][1]*a[4][0]*a[5][2] - a[0][5]*a[2][4]*a[3][1]*a[4][2]*a[5][0] - a[0][5]*a[2][4]*a[3][2]*a[4][0]*a[5][1] + a[0][5]*a[2][4]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[4][1] = -(a[0][0]*a[2][1]*a[3][2]*a[4][3]*a[5][5] - a[0][0]*a[2][1]*a[3][2]*a[4][5]*a[5][3] - a[0][0]*a[2][1]*a[3][3]*a[4][2]*a[5][5] + a[0][0]*a[2][1]*a[3][3]*a[4][5]*a[5][2] + a[0][0]*a[2][1]*a[3][5]*a[4][2]*a[5][3] - a[0][0]*a[2][1]*a[3][5]*a[4][3]*a[5][2] - a[0][0]*a[2][2]*a[3][1]*a[4][3]*a[5][5] + a[0][0]*a[2][2]*a[3][1]*a[4][5]*a[5][3] + a[0][0]*a[2][2]*a[3][3]*a[4][1]*a[5][5] - a[0][0]*a[2][2]*a[3][3]*a[4][5]*a[5][1] - a[0][0]*a[2][2]*a[3][5]*a[4][1]*a[5][3] + a[0][0]*a[2][2]*a[3][5]*a[4][3]*a[5][1] + a[0][0]*a[2][3]*a[3][1]*a[4][2]*a[5][5] - a[0][0]*a[2][3]*a[3][1]*a[4][5]*a[5][2] - a[0][0]*a[2][3]*a[3][2]*a[4][1]*a[5][5] + a[0][0]*a[2][3]*a[3][2]*a[4][5]*a[5][1] + a[0][0]*a[2][3]*a[3][5]*a[4][1]*a[5][2] - a[0][0]*a[2][3]*a[3][5]*a[4][2]*a[5][1] - a[0][0]*a[2][5]*a[3][1]*a[4][2]*a[5][3] + a[0][0]*a[2][5]*a[3][1]*a[4][3]*a[5][2] + a[0][0]*a[2][5]*a[3][2]*a[4][1]*a[5][3] - a[0][0]*a[2][5]*a[3][2]*a[4][3]*a[5][1] - a[0][0]*a[2][5]*a[3][3]*a[4][1]*a[5][2] + a[0][0]*a[2][5]*a[3][3]*a[4][2]*a[5][1] - a[0][1]*a[2][0]*a[3][2]*a[4][3]*a[5][5] + a[0][1]*a[2][0]*a[3][2]*a[4][5]*a[5][3] + a[0][1]*a[2][0]*a[3][3]*a[4][2]*a[5][5] - a[0][1]*a[2][0]*a[3][3]*a[4][5]*a[5][2] - a[0][1]*a[2][0]*a[3][5]*a[4][2]*a[5][3] + a[0][1]*a[2][0]*a[3][5]*a[4][3]*a[5][2] + a[0][1]*a[2][2]*a[3][0]*a[4][3]*a[5][5] - a[0][1]*a[2][2]*a[3][0]*a[4][5]*a[5][3] - a[0][1]*a[2][2]*a[3][3]*a[4][0]*a[5][5] + a[0][1]*a[2][2]*a[3][3]*a[4][5]*a[5][0] + a[0][1]*a[2][2]*a[3][5]*a[4][0]*a[5][3] - a[0][1]*a[2][2]*a[3][5]*a[4][3]*a[5][0] - a[0][1]*a[2][3]*a[3][0]*a[4][2]*a[5][5] + a[0][1]*a[2][3]*a[3][0]*a[4][5]*a[5][2] + a[0][1]*a[2][3]*a[3][2]*a[4][0]*a[5][5] - a[0][1]*a[2][3]*a[3][2]*a[4][5]*a[5][0] - a[0][1]*a[2][3]*a[3][5]*a[4][0]*a[5][2] + a[0][1]*a[2][3]*a[3][5]*a[4][2]*a[5][0] + a[0][1]*a[2][5]*a[3][0]*a[4][2]*a[5][3] - a[0][1]*a[2][5]*a[3][0]*a[4][3]*a[5][2] - a[0][1]*a[2][5]*a[3][2]*a[4][0]*a[5][3] + a[0][1]*a[2][5]*a[3][2]*a[4][3]*a[5][0] + a[0][1]*a[2][5]*a[3][3]*a[4][0]*a[5][2] - a[0][1]*a[2][5]*a[3][3]*a[4][2]*a[5][0] + a[0][2]*a[2][0]*a[3][1]*a[4][3]*a[5][5] - a[0][2]*a[2][0]*a[3][1]*a[4][5]*a[5][3] - a[0][2]*a[2][0]*a[3][3]*a[4][1]*a[5][5] + a[0][2]*a[2][0]*a[3][3]*a[4][5]*a[5][1] + a[0][2]*a[2][0]*a[3][5]*a[4][1]*a[5][3] - a[0][2]*a[2][0]*a[3][5]*a[4][3]*a[5][1] - a[0][2]*a[2][1]*a[3][0]*a[4][3]*a[5][5] + a[0][2]*a[2][1]*a[3][0]*a[4][5]*a[5][3] + a[0][2]*a[2][1]*a[3][3]*a[4][0]*a[5][5] - a[0][2]*a[2][1]*a[3][3]*a[4][5]*a[5][0] - a[0][2]*a[2][1]*a[3][5]*a[4][0]*a[5][3] + a[0][2]*a[2][1]*a[3][5]*a[4][3]*a[5][0] + a[0][2]*a[2][3]*a[3][0]*a[4][1]*a[5][5] - a[0][2]*a[2][3]*a[3][0]*a[4][5]*a[5][1] - a[0][2]*a[2][3]*a[3][1]*a[4][0]*a[5][5] + a[0][2]*a[2][3]*a[3][1]*a[4][5]*a[5][0] + a[0][2]*a[2][3]*a[3][5]*a[4][0]*a[5][1] - a[0][2]*a[2][3]*a[3][5]*a[4][1]*a[5][0] - a[0][2]*a[2][5]*a[3][0]*a[4][1]*a[5][3] + a[0][2]*a[2][5]*a[3][0]*a[4][3]*a[5][1] + a[0][2]*a[2][5]*a[3][1]*a[4][0]*a[5][3] - a[0][2]*a[2][5]*a[3][1]*a[4][3]*a[5][0] - a[0][2]*a[2][5]*a[3][3]*a[4][0]*a[5][1] + a[0][2]*a[2][5]*a[3][3]*a[4][1]*a[5][0] - a[0][3]*a[2][0]*a[3][1]*a[4][2]*a[5][5] + a[0][3]*a[2][0]*a[3][1]*a[4][5]*a[5][2] + a[0][3]*a[2][0]*a[3][2]*a[4][1]*a[5][5] - a[0][3]*a[2][0]*a[3][2]*a[4][5]*a[5][1] - a[0][3]*a[2][0]*a[3][5]*a[4][1]*a[5][2] + a[0][3]*a[2][0]*a[3][5]*a[4][2]*a[5][1] + a[0][3]*a[2][1]*a[3][0]*a[4][2]*a[5][5] - a[0][3]*a[2][1]*a[3][0]*a[4][5]*a[5][2] - a[0][3]*a[2][1]*a[3][2]*a[4][0]*a[5][5] + a[0][3]*a[2][1]*a[3][2]*a[4][5]*a[5][0] + a[0][3]*a[2][1]*a[3][5]*a[4][0]*a[5][2] - a[0][3]*a[2][1]*a[3][5]*a[4][2]*a[5][0] - a[0][3]*a[2][2]*a[3][0]*a[4][1]*a[5][5] + a[0][3]*a[2][2]*a[3][0]*a[4][5]*a[5][1] + a[0][3]*a[2][2]*a[3][1]*a[4][0]*a[5][5] - a[0][3]*a[2][2]*a[3][1]*a[4][5]*a[5][0] - a[0][3]*a[2][2]*a[3][5]*a[4][0]*a[5][1] + a[0][3]*a[2][2]*a[3][5]*a[4][1]*a[5][0] + a[0][3]*a[2][5]*a[3][0]*a[4][1]*a[5][2] - a[0][3]*a[2][5]*a[3][0]*a[4][2]*a[5][1] - a[0][3]*a[2][5]*a[3][1]*a[4][0]*a[5][2] + a[0][3]*a[2][5]*a[3][1]*a[4][2]*a[5][0] + a[0][3]*a[2][5]*a[3][2]*a[4][0]*a[5][1] - a[0][3]*a[2][5]*a[3][2]*a[4][1]*a[5][0] + a[0][5]*a[2][0]*a[3][1]*a[4][2]*a[5][3] - a[0][5]*a[2][0]*a[3][1]*a[4][3]*a[5][2] - a[0][5]*a[2][0]*a[3][2]*a[4][1]*a[5][3] + a[0][5]*a[2][0]*a[3][2]*a[4][3]*a[5][1] + a[0][5]*a[2][0]*a[3][3]*a[4][1]*a[5][2] - a[0][5]*a[2][0]*a[3][3]*a[4][2]*a[5][1] - a[0][5]*a[2][1]*a[3][0]*a[4][2]*a[5][3] + a[0][5]*a[2][1]*a[3][0]*a[4][3]*a[5][2] + a[0][5]*a[2][1]*a[3][2]*a[4][0]*a[5][3] - a[0][5]*a[2][1]*a[3][2]*a[4][3]*a[5][0] - a[0][5]*a[2][1]*a[3][3]*a[4][0]*a[5][2] + a[0][5]*a[2][1]*a[3][3]*a[4][2]*a[5][0] + a[0][5]*a[2][2]*a[3][0]*a[4][1]*a[5][3] - a[0][5]*a[2][2]*a[3][0]*a[4][3]*a[5][1] - a[0][5]*a[2][2]*a[3][1]*a[4][0]*a[5][3] + a[0][5]*a[2][2]*a[3][1]*a[4][3]*a[5][0] + a[0][5]*a[2][2]*a[3][3]*a[4][0]*a[5][1] - a[0][5]*a[2][2]*a[3][3]*a[4][1]*a[5][0] - a[0][5]*a[2][3]*a[3][0]*a[4][1]*a[5][2] + a[0][5]*a[2][3]*a[3][0]*a[4][2]*a[5][1] + a[0][5]*a[2][3]*a[3][1]*a[4][0]*a[5][2] - a[0][5]*a[2][3]*a[3][1]*a[4][2]*a[5][0] - a[0][5]*a[2][3]*a[3][2]*a[4][0]*a[5][1] + a[0][5]*a[2][3]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[5][1] =  (a[0][0]*a[2][1]*a[3][2]*a[4][3]*a[5][4] - a[0][0]*a[2][1]*a[3][2]*a[4][4]*a[5][3] - a[0][0]*a[2][1]*a[3][3]*a[4][2]*a[5][4] + a[0][0]*a[2][1]*a[3][3]*a[4][4]*a[5][2] + a[0][0]*a[2][1]*a[3][4]*a[4][2]*a[5][3] - a[0][0]*a[2][1]*a[3][4]*a[4][3]*a[5][2] - a[0][0]*a[2][2]*a[3][1]*a[4][3]*a[5][4] + a[0][0]*a[2][2]*a[3][1]*a[4][4]*a[5][3] + a[0][0]*a[2][2]*a[3][3]*a[4][1]*a[5][4] - a[0][0]*a[2][2]*a[3][3]*a[4][4]*a[5][1] - a[0][0]*a[2][2]*a[3][4]*a[4][1]*a[5][3] + a[0][0]*a[2][2]*a[3][4]*a[4][3]*a[5][1] + a[0][0]*a[2][3]*a[3][1]*a[4][2]*a[5][4] - a[0][0]*a[2][3]*a[3][1]*a[4][4]*a[5][2] - a[0][0]*a[2][3]*a[3][2]*a[4][1]*a[5][4] + a[0][0]*a[2][3]*a[3][2]*a[4][4]*a[5][1] + a[0][0]*a[2][3]*a[3][4]*a[4][1]*a[5][2] - a[0][0]*a[2][3]*a[3][4]*a[4][2]*a[5][1] - a[0][0]*a[2][4]*a[3][1]*a[4][2]*a[5][3] + a[0][0]*a[2][4]*a[3][1]*a[4][3]*a[5][2] + a[0][0]*a[2][4]*a[3][2]*a[4][1]*a[5][3] - a[0][0]*a[2][4]*a[3][2]*a[4][3]*a[5][1] - a[0][0]*a[2][4]*a[3][3]*a[4][1]*a[5][2] + a[0][0]*a[2][4]*a[3][3]*a[4][2]*a[5][1] - a[0][1]*a[2][0]*a[3][2]*a[4][3]*a[5][4] + a[0][1]*a[2][0]*a[3][2]*a[4][4]*a[5][3] + a[0][1]*a[2][0]*a[3][3]*a[4][2]*a[5][4] - a[0][1]*a[2][0]*a[3][3]*a[4][4]*a[5][2] - a[0][1]*a[2][0]*a[3][4]*a[4][2]*a[5][3] + a[0][1]*a[2][0]*a[3][4]*a[4][3]*a[5][2] + a[0][1]*a[2][2]*a[3][0]*a[4][3]*a[5][4] - a[0][1]*a[2][2]*a[3][0]*a[4][4]*a[5][3] - a[0][1]*a[2][2]*a[3][3]*a[4][0]*a[5][4] + a[0][1]*a[2][2]*a[3][3]*a[4][4]*a[5][0] + a[0][1]*a[2][2]*a[3][4]*a[4][0]*a[5][3] - a[0][1]*a[2][2]*a[3][4]*a[4][3]*a[5][0] - a[0][1]*a[2][3]*a[3][0]*a[4][2]*a[5][4] + a[0][1]*a[2][3]*a[3][0]*a[4][4]*a[5][2] + a[0][1]*a[2][3]*a[3][2]*a[4][0]*a[5][4] - a[0][1]*a[2][3]*a[3][2]*a[4][4]*a[5][0] - a[0][1]*a[2][3]*a[3][4]*a[4][0]*a[5][2] + a[0][1]*a[2][3]*a[3][4]*a[4][2]*a[5][0] + a[0][1]*a[2][4]*a[3][0]*a[4][2]*a[5][3] - a[0][1]*a[2][4]*a[3][0]*a[4][3]*a[5][2] - a[0][1]*a[2][4]*a[3][2]*a[4][0]*a[5][3] + a[0][1]*a[2][4]*a[3][2]*a[4][3]*a[5][0] + a[0][1]*a[2][4]*a[3][3]*a[4][0]*a[5][2] - a[0][1]*a[2][4]*a[3][3]*a[4][2]*a[5][0] + a[0][2]*a[2][0]*a[3][1]*a[4][3]*a[5][4] - a[0][2]*a[2][0]*a[3][1]*a[4][4]*a[5][3] - a[0][2]*a[2][0]*a[3][3]*a[4][1]*a[5][4] + a[0][2]*a[2][0]*a[3][3]*a[4][4]*a[5][1] + a[0][2]*a[2][0]*a[3][4]*a[4][1]*a[5][3] - a[0][2]*a[2][0]*a[3][4]*a[4][3]*a[5][1] - a[0][2]*a[2][1]*a[3][0]*a[4][3]*a[5][4] + a[0][2]*a[2][1]*a[3][0]*a[4][4]*a[5][3] + a[0][2]*a[2][1]*a[3][3]*a[4][0]*a[5][4] - a[0][2]*a[2][1]*a[3][3]*a[4][4]*a[5][0] - a[0][2]*a[2][1]*a[3][4]*a[4][0]*a[5][3] + a[0][2]*a[2][1]*a[3][4]*a[4][3]*a[5][0] + a[0][2]*a[2][3]*a[3][0]*a[4][1]*a[5][4] - a[0][2]*a[2][3]*a[3][0]*a[4][4]*a[5][1] - a[0][2]*a[2][3]*a[3][1]*a[4][0]*a[5][4] + a[0][2]*a[2][3]*a[3][1]*a[4][4]*a[5][0] + a[0][2]*a[2][3]*a[3][4]*a[4][0]*a[5][1] - a[0][2]*a[2][3]*a[3][4]*a[4][1]*a[5][0] - a[0][2]*a[2][4]*a[3][0]*a[4][1]*a[5][3] + a[0][2]*a[2][4]*a[3][0]*a[4][3]*a[5][1] + a[0][2]*a[2][4]*a[3][1]*a[4][0]*a[5][3] - a[0][2]*a[2][4]*a[3][1]*a[4][3]*a[5][0] - a[0][2]*a[2][4]*a[3][3]*a[4][0]*a[5][1] + a[0][2]*a[2][4]*a[3][3]*a[4][1]*a[5][0] - a[0][3]*a[2][0]*a[3][1]*a[4][2]*a[5][4] + a[0][3]*a[2][0]*a[3][1]*a[4][4]*a[5][2] + a[0][3]*a[2][0]*a[3][2]*a[4][1]*a[5][4] - a[0][3]*a[2][0]*a[3][2]*a[4][4]*a[5][1] - a[0][3]*a[2][0]*a[3][4]*a[4][1]*a[5][2] + a[0][3]*a[2][0]*a[3][4]*a[4][2]*a[5][1] + a[0][3]*a[2][1]*a[3][0]*a[4][2]*a[5][4] - a[0][3]*a[2][1]*a[3][0]*a[4][4]*a[5][2] - a[0][3]*a[2][1]*a[3][2]*a[4][0]*a[5][4] + a[0][3]*a[2][1]*a[3][2]*a[4][4]*a[5][0] + a[0][3]*a[2][1]*a[3][4]*a[4][0]*a[5][2] - a[0][3]*a[2][1]*a[3][4]*a[4][2]*a[5][0] - a[0][3]*a[2][2]*a[3][0]*a[4][1]*a[5][4] + a[0][3]*a[2][2]*a[3][0]*a[4][4]*a[5][1] + a[0][3]*a[2][2]*a[3][1]*a[4][0]*a[5][4] - a[0][3]*a[2][2]*a[3][1]*a[4][4]*a[5][0] - a[0][3]*a[2][2]*a[3][4]*a[4][0]*a[5][1] + a[0][3]*a[2][2]*a[3][4]*a[4][1]*a[5][0] + a[0][3]*a[2][4]*a[3][0]*a[4][1]*a[5][2] - a[0][3]*a[2][4]*a[3][0]*a[4][2]*a[5][1] - a[0][3]*a[2][4]*a[3][1]*a[4][0]*a[5][2] + a[0][3]*a[2][4]*a[3][1]*a[4][2]*a[5][0] + a[0][3]*a[2][4]*a[3][2]*a[4][0]*a[5][1] - a[0][3]*a[2][4]*a[3][2]*a[4][1]*a[5][0] + a[0][4]*a[2][0]*a[3][1]*a[4][2]*a[5][3] - a[0][4]*a[2][0]*a[3][1]*a[4][3]*a[5][2] - a[0][4]*a[2][0]*a[3][2]*a[4][1]*a[5][3] + a[0][4]*a[2][0]*a[3][2]*a[4][3]*a[5][1] + a[0][4]*a[2][0]*a[3][3]*a[4][1]*a[5][2] - a[0][4]*a[2][0]*a[3][3]*a[4][2]*a[5][1] - a[0][4]*a[2][1]*a[3][0]*a[4][2]*a[5][3] + a[0][4]*a[2][1]*a[3][0]*a[4][3]*a[5][2] + a[0][4]*a[2][1]*a[3][2]*a[4][0]*a[5][3] - a[0][4]*a[2][1]*a[3][2]*a[4][3]*a[5][0] - a[0][4]*a[2][1]*a[3][3]*a[4][0]*a[5][2] + a[0][4]*a[2][1]*a[3][3]*a[4][2]*a[5][0] + a[0][4]*a[2][2]*a[3][0]*a[4][1]*a[5][3] - a[0][4]*a[2][2]*a[3][0]*a[4][3]*a[5][1] - a[0][4]*a[2][2]*a[3][1]*a[4][0]*a[5][3] + a[0][4]*a[2][2]*a[3][1]*a[4][3]*a[5][0] + a[0][4]*a[2][2]*a[3][3]*a[4][0]*a[5][1] - a[0][4]*a[2][2]*a[3][3]*a[4][1]*a[5][0] - a[0][4]*a[2][3]*a[3][0]*a[4][1]*a[5][2] + a[0][4]*a[2][3]*a[3][0]*a[4][2]*a[5][1] + a[0][4]*a[2][3]*a[3][1]*a[4][0]*a[5][2] - a[0][4]*a[2][3]*a[3][1]*a[4][2]*a[5][0] - a[0][4]*a[2][3]*a[3][2]*a[4][0]*a[5][1] + a[0][4]*a[2][3]*a[3][2]*a[4][1]*a[5][0])/denom;

  invA[0][2] =  (a[0][1]*a[1][2]*a[3][3]*a[4][4]*a[5][5] - a[0][1]*a[1][2]*a[3][3]*a[4][5]*a[5][4] - a[0][1]*a[1][2]*a[3][4]*a[4][3]*a[5][5] + a[0][1]*a[1][2]*a[3][4]*a[4][5]*a[5][3] + a[0][1]*a[1][2]*a[3][5]*a[4][3]*a[5][4] - a[0][1]*a[1][2]*a[3][5]*a[4][4]*a[5][3] - a[0][1]*a[1][3]*a[3][2]*a[4][4]*a[5][5] + a[0][1]*a[1][3]*a[3][2]*a[4][5]*a[5][4] + a[0][1]*a[1][3]*a[3][4]*a[4][2]*a[5][5] - a[0][1]*a[1][3]*a[3][4]*a[4][5]*a[5][2] - a[0][1]*a[1][3]*a[3][5]*a[4][2]*a[5][4] + a[0][1]*a[1][3]*a[3][5]*a[4][4]*a[5][2] + a[0][1]*a[1][4]*a[3][2]*a[4][3]*a[5][5] - a[0][1]*a[1][4]*a[3][2]*a[4][5]*a[5][3] - a[0][1]*a[1][4]*a[3][3]*a[4][2]*a[5][5] + a[0][1]*a[1][4]*a[3][3]*a[4][5]*a[5][2] + a[0][1]*a[1][4]*a[3][5]*a[4][2]*a[5][3] - a[0][1]*a[1][4]*a[3][5]*a[4][3]*a[5][2] - a[0][1]*a[1][5]*a[3][2]*a[4][3]*a[5][4] + a[0][1]*a[1][5]*a[3][2]*a[4][4]*a[5][3] + a[0][1]*a[1][5]*a[3][3]*a[4][2]*a[5][4] - a[0][1]*a[1][5]*a[3][3]*a[4][4]*a[5][2] - a[0][1]*a[1][5]*a[3][4]*a[4][2]*a[5][3] + a[0][1]*a[1][5]*a[3][4]*a[4][3]*a[5][2] - a[0][2]*a[1][1]*a[3][3]*a[4][4]*a[5][5] + a[0][2]*a[1][1]*a[3][3]*a[4][5]*a[5][4] + a[0][2]*a[1][1]*a[3][4]*a[4][3]*a[5][5] - a[0][2]*a[1][1]*a[3][4]*a[4][5]*a[5][3] - a[0][2]*a[1][1]*a[3][5]*a[4][3]*a[5][4] + a[0][2]*a[1][1]*a[3][5]*a[4][4]*a[5][3] + a[0][2]*a[1][3]*a[3][1]*a[4][4]*a[5][5] - a[0][2]*a[1][3]*a[3][1]*a[4][5]*a[5][4] - a[0][2]*a[1][3]*a[3][4]*a[4][1]*a[5][5] + a[0][2]*a[1][3]*a[3][4]*a[4][5]*a[5][1] + a[0][2]*a[1][3]*a[3][5]*a[4][1]*a[5][4] - a[0][2]*a[1][3]*a[3][5]*a[4][4]*a[5][1] - a[0][2]*a[1][4]*a[3][1]*a[4][3]*a[5][5] + a[0][2]*a[1][4]*a[3][1]*a[4][5]*a[5][3] + a[0][2]*a[1][4]*a[3][3]*a[4][1]*a[5][5] - a[0][2]*a[1][4]*a[3][3]*a[4][5]*a[5][1] - a[0][2]*a[1][4]*a[3][5]*a[4][1]*a[5][3] + a[0][2]*a[1][4]*a[3][5]*a[4][3]*a[5][1] + a[0][2]*a[1][5]*a[3][1]*a[4][3]*a[5][4] - a[0][2]*a[1][5]*a[3][1]*a[4][4]*a[5][3] - a[0][2]*a[1][5]*a[3][3]*a[4][1]*a[5][4] + a[0][2]*a[1][5]*a[3][3]*a[4][4]*a[5][1] + a[0][2]*a[1][5]*a[3][4]*a[4][1]*a[5][3] - a[0][2]*a[1][5]*a[3][4]*a[4][3]*a[5][1] + a[0][3]*a[1][1]*a[3][2]*a[4][4]*a[5][5] - a[0][3]*a[1][1]*a[3][2]*a[4][5]*a[5][4] - a[0][3]*a[1][1]*a[3][4]*a[4][2]*a[5][5] + a[0][3]*a[1][1]*a[3][4]*a[4][5]*a[5][2] + a[0][3]*a[1][1]*a[3][5]*a[4][2]*a[5][4] - a[0][3]*a[1][1]*a[3][5]*a[4][4]*a[5][2] - a[0][3]*a[1][2]*a[3][1]*a[4][4]*a[5][5] + a[0][3]*a[1][2]*a[3][1]*a[4][5]*a[5][4] + a[0][3]*a[1][2]*a[3][4]*a[4][1]*a[5][5] - a[0][3]*a[1][2]*a[3][4]*a[4][5]*a[5][1] - a[0][3]*a[1][2]*a[3][5]*a[4][1]*a[5][4] + a[0][3]*a[1][2]*a[3][5]*a[4][4]*a[5][1] + a[0][3]*a[1][4]*a[3][1]*a[4][2]*a[5][5] - a[0][3]*a[1][4]*a[3][1]*a[4][5]*a[5][2] - a[0][3]*a[1][4]*a[3][2]*a[4][1]*a[5][5] + a[0][3]*a[1][4]*a[3][2]*a[4][5]*a[5][1] + a[0][3]*a[1][4]*a[3][5]*a[4][1]*a[5][2] - a[0][3]*a[1][4]*a[3][5]*a[4][2]*a[5][1] - a[0][3]*a[1][5]*a[3][1]*a[4][2]*a[5][4] + a[0][3]*a[1][5]*a[3][1]*a[4][4]*a[5][2] + a[0][3]*a[1][5]*a[3][2]*a[4][1]*a[5][4] - a[0][3]*a[1][5]*a[3][2]*a[4][4]*a[5][1] - a[0][3]*a[1][5]*a[3][4]*a[4][1]*a[5][2] + a[0][3]*a[1][5]*a[3][4]*a[4][2]*a[5][1] - a[0][4]*a[1][1]*a[3][2]*a[4][3]*a[5][5] + a[0][4]*a[1][1]*a[3][2]*a[4][5]*a[5][3] + a[0][4]*a[1][1]*a[3][3]*a[4][2]*a[5][5] - a[0][4]*a[1][1]*a[3][3]*a[4][5]*a[5][2] - a[0][4]*a[1][1]*a[3][5]*a[4][2]*a[5][3] + a[0][4]*a[1][1]*a[3][5]*a[4][3]*a[5][2] + a[0][4]*a[1][2]*a[3][1]*a[4][3]*a[5][5] - a[0][4]*a[1][2]*a[3][1]*a[4][5]*a[5][3] - a[0][4]*a[1][2]*a[3][3]*a[4][1]*a[5][5] + a[0][4]*a[1][2]*a[3][3]*a[4][5]*a[5][1] + a[0][4]*a[1][2]*a[3][5]*a[4][1]*a[5][3] - a[0][4]*a[1][2]*a[3][5]*a[4][3]*a[5][1] - a[0][4]*a[1][3]*a[3][1]*a[4][2]*a[5][5] + a[0][4]*a[1][3]*a[3][1]*a[4][5]*a[5][2] + a[0][4]*a[1][3]*a[3][2]*a[4][1]*a[5][5] - a[0][4]*a[1][3]*a[3][2]*a[4][5]*a[5][1] - a[0][4]*a[1][3]*a[3][5]*a[4][1]*a[5][2] + a[0][4]*a[1][3]*a[3][5]*a[4][2]*a[5][1] + a[0][4]*a[1][5]*a[3][1]*a[4][2]*a[5][3] - a[0][4]*a[1][5]*a[3][1]*a[4][3]*a[5][2] - a[0][4]*a[1][5]*a[3][2]*a[4][1]*a[5][3] + a[0][4]*a[1][5]*a[3][2]*a[4][3]*a[5][1] + a[0][4]*a[1][5]*a[3][3]*a[4][1]*a[5][2] - a[0][4]*a[1][5]*a[3][3]*a[4][2]*a[5][1] + a[0][5]*a[1][1]*a[3][2]*a[4][3]*a[5][4] - a[0][5]*a[1][1]*a[3][2]*a[4][4]*a[5][3] - a[0][5]*a[1][1]*a[3][3]*a[4][2]*a[5][4] + a[0][5]*a[1][1]*a[3][3]*a[4][4]*a[5][2] + a[0][5]*a[1][1]*a[3][4]*a[4][2]*a[5][3] - a[0][5]*a[1][1]*a[3][4]*a[4][3]*a[5][2] - a[0][5]*a[1][2]*a[3][1]*a[4][3]*a[5][4] + a[0][5]*a[1][2]*a[3][1]*a[4][4]*a[5][3] + a[0][5]*a[1][2]*a[3][3]*a[4][1]*a[5][4] - a[0][5]*a[1][2]*a[3][3]*a[4][4]*a[5][1] - a[0][5]*a[1][2]*a[3][4]*a[4][1]*a[5][3] + a[0][5]*a[1][2]*a[3][4]*a[4][3]*a[5][1] + a[0][5]*a[1][3]*a[3][1]*a[4][2]*a[5][4] - a[0][5]*a[1][3]*a[3][1]*a[4][4]*a[5][2] - a[0][5]*a[1][3]*a[3][2]*a[4][1]*a[5][4] + a[0][5]*a[1][3]*a[3][2]*a[4][4]*a[5][1] + a[0][5]*a[1][3]*a[3][4]*a[4][1]*a[5][2] - a[0][5]*a[1][3]*a[3][4]*a[4][2]*a[5][1] - a[0][5]*a[1][4]*a[3][1]*a[4][2]*a[5][3] + a[0][5]*a[1][4]*a[3][1]*a[4][3]*a[5][2] + a[0][5]*a[1][4]*a[3][2]*a[4][1]*a[5][3] - a[0][5]*a[1][4]*a[3][2]*a[4][3]*a[5][1] - a[0][5]*a[1][4]*a[3][3]*a[4][1]*a[5][2] + a[0][5]*a[1][4]*a[3][3]*a[4][2]*a[5][1])/denom;
  invA[1][2] = -(a[0][0]*a[1][2]*a[3][3]*a[4][4]*a[5][5] - a[0][0]*a[1][2]*a[3][3]*a[4][5]*a[5][4] - a[0][0]*a[1][2]*a[3][4]*a[4][3]*a[5][5] + a[0][0]*a[1][2]*a[3][4]*a[4][5]*a[5][3] + a[0][0]*a[1][2]*a[3][5]*a[4][3]*a[5][4] - a[0][0]*a[1][2]*a[3][5]*a[4][4]*a[5][3] - a[0][0]*a[1][3]*a[3][2]*a[4][4]*a[5][5] + a[0][0]*a[1][3]*a[3][2]*a[4][5]*a[5][4] + a[0][0]*a[1][3]*a[3][4]*a[4][2]*a[5][5] - a[0][0]*a[1][3]*a[3][4]*a[4][5]*a[5][2] - a[0][0]*a[1][3]*a[3][5]*a[4][2]*a[5][4] + a[0][0]*a[1][3]*a[3][5]*a[4][4]*a[5][2] + a[0][0]*a[1][4]*a[3][2]*a[4][3]*a[5][5] - a[0][0]*a[1][4]*a[3][2]*a[4][5]*a[5][3] - a[0][0]*a[1][4]*a[3][3]*a[4][2]*a[5][5] + a[0][0]*a[1][4]*a[3][3]*a[4][5]*a[5][2] + a[0][0]*a[1][4]*a[3][5]*a[4][2]*a[5][3] - a[0][0]*a[1][4]*a[3][5]*a[4][3]*a[5][2] - a[0][0]*a[1][5]*a[3][2]*a[4][3]*a[5][4] + a[0][0]*a[1][5]*a[3][2]*a[4][4]*a[5][3] + a[0][0]*a[1][5]*a[3][3]*a[4][2]*a[5][4] - a[0][0]*a[1][5]*a[3][3]*a[4][4]*a[5][2] - a[0][0]*a[1][5]*a[3][4]*a[4][2]*a[5][3] + a[0][0]*a[1][5]*a[3][4]*a[4][3]*a[5][2] - a[0][2]*a[1][0]*a[3][3]*a[4][4]*a[5][5] + a[0][2]*a[1][0]*a[3][3]*a[4][5]*a[5][4] + a[0][2]*a[1][0]*a[3][4]*a[4][3]*a[5][5] - a[0][2]*a[1][0]*a[3][4]*a[4][5]*a[5][3] - a[0][2]*a[1][0]*a[3][5]*a[4][3]*a[5][4] + a[0][2]*a[1][0]*a[3][5]*a[4][4]*a[5][3] + a[0][2]*a[1][3]*a[3][0]*a[4][4]*a[5][5] - a[0][2]*a[1][3]*a[3][0]*a[4][5]*a[5][4] - a[0][2]*a[1][3]*a[3][4]*a[4][0]*a[5][5] + a[0][2]*a[1][3]*a[3][4]*a[4][5]*a[5][0] + a[0][2]*a[1][3]*a[3][5]*a[4][0]*a[5][4] - a[0][2]*a[1][3]*a[3][5]*a[4][4]*a[5][0] - a[0][2]*a[1][4]*a[3][0]*a[4][3]*a[5][5] + a[0][2]*a[1][4]*a[3][0]*a[4][5]*a[5][3] + a[0][2]*a[1][4]*a[3][3]*a[4][0]*a[5][5] - a[0][2]*a[1][4]*a[3][3]*a[4][5]*a[5][0] - a[0][2]*a[1][4]*a[3][5]*a[4][0]*a[5][3] + a[0][2]*a[1][4]*a[3][5]*a[4][3]*a[5][0] + a[0][2]*a[1][5]*a[3][0]*a[4][3]*a[5][4] - a[0][2]*a[1][5]*a[3][0]*a[4][4]*a[5][3] - a[0][2]*a[1][5]*a[3][3]*a[4][0]*a[5][4] + a[0][2]*a[1][5]*a[3][3]*a[4][4]*a[5][0] + a[0][2]*a[1][5]*a[3][4]*a[4][0]*a[5][3] - a[0][2]*a[1][5]*a[3][4]*a[4][3]*a[5][0] + a[0][3]*a[1][0]*a[3][2]*a[4][4]*a[5][5] - a[0][3]*a[1][0]*a[3][2]*a[4][5]*a[5][4] - a[0][3]*a[1][0]*a[3][4]*a[4][2]*a[5][5] + a[0][3]*a[1][0]*a[3][4]*a[4][5]*a[5][2] + a[0][3]*a[1][0]*a[3][5]*a[4][2]*a[5][4] - a[0][3]*a[1][0]*a[3][5]*a[4][4]*a[5][2] - a[0][3]*a[1][2]*a[3][0]*a[4][4]*a[5][5] + a[0][3]*a[1][2]*a[3][0]*a[4][5]*a[5][4] + a[0][3]*a[1][2]*a[3][4]*a[4][0]*a[5][5] - a[0][3]*a[1][2]*a[3][4]*a[4][5]*a[5][0] - a[0][3]*a[1][2]*a[3][5]*a[4][0]*a[5][4] + a[0][3]*a[1][2]*a[3][5]*a[4][4]*a[5][0] + a[0][3]*a[1][4]*a[3][0]*a[4][2]*a[5][5] - a[0][3]*a[1][4]*a[3][0]*a[4][5]*a[5][2] - a[0][3]*a[1][4]*a[3][2]*a[4][0]*a[5][5] + a[0][3]*a[1][4]*a[3][2]*a[4][5]*a[5][0] + a[0][3]*a[1][4]*a[3][5]*a[4][0]*a[5][2] - a[0][3]*a[1][4]*a[3][5]*a[4][2]*a[5][0] - a[0][3]*a[1][5]*a[3][0]*a[4][2]*a[5][4] + a[0][3]*a[1][5]*a[3][0]*a[4][4]*a[5][2] + a[0][3]*a[1][5]*a[3][2]*a[4][0]*a[5][4] - a[0][3]*a[1][5]*a[3][2]*a[4][4]*a[5][0] - a[0][3]*a[1][5]*a[3][4]*a[4][0]*a[5][2] + a[0][3]*a[1][5]*a[3][4]*a[4][2]*a[5][0] - a[0][4]*a[1][0]*a[3][2]*a[4][3]*a[5][5] + a[0][4]*a[1][0]*a[3][2]*a[4][5]*a[5][3] + a[0][4]*a[1][0]*a[3][3]*a[4][2]*a[5][5] - a[0][4]*a[1][0]*a[3][3]*a[4][5]*a[5][2] - a[0][4]*a[1][0]*a[3][5]*a[4][2]*a[5][3] + a[0][4]*a[1][0]*a[3][5]*a[4][3]*a[5][2] + a[0][4]*a[1][2]*a[3][0]*a[4][3]*a[5][5] - a[0][4]*a[1][2]*a[3][0]*a[4][5]*a[5][3] - a[0][4]*a[1][2]*a[3][3]*a[4][0]*a[5][5] + a[0][4]*a[1][2]*a[3][3]*a[4][5]*a[5][0] + a[0][4]*a[1][2]*a[3][5]*a[4][0]*a[5][3] - a[0][4]*a[1][2]*a[3][5]*a[4][3]*a[5][0] - a[0][4]*a[1][3]*a[3][0]*a[4][2]*a[5][5] + a[0][4]*a[1][3]*a[3][0]*a[4][5]*a[5][2] + a[0][4]*a[1][3]*a[3][2]*a[4][0]*a[5][5] - a[0][4]*a[1][3]*a[3][2]*a[4][5]*a[5][0] - a[0][4]*a[1][3]*a[3][5]*a[4][0]*a[5][2] + a[0][4]*a[1][3]*a[3][5]*a[4][2]*a[5][0] + a[0][4]*a[1][5]*a[3][0]*a[4][2]*a[5][3] - a[0][4]*a[1][5]*a[3][0]*a[4][3]*a[5][2] - a[0][4]*a[1][5]*a[3][2]*a[4][0]*a[5][3] + a[0][4]*a[1][5]*a[3][2]*a[4][3]*a[5][0] + a[0][4]*a[1][5]*a[3][3]*a[4][0]*a[5][2] - a[0][4]*a[1][5]*a[3][3]*a[4][2]*a[5][0] + a[0][5]*a[1][0]*a[3][2]*a[4][3]*a[5][4] - a[0][5]*a[1][0]*a[3][2]*a[4][4]*a[5][3] - a[0][5]*a[1][0]*a[3][3]*a[4][2]*a[5][4] + a[0][5]*a[1][0]*a[3][3]*a[4][4]*a[5][2] + a[0][5]*a[1][0]*a[3][4]*a[4][2]*a[5][3] - a[0][5]*a[1][0]*a[3][4]*a[4][3]*a[5][2] - a[0][5]*a[1][2]*a[3][0]*a[4][3]*a[5][4] + a[0][5]*a[1][2]*a[3][0]*a[4][4]*a[5][3] + a[0][5]*a[1][2]*a[3][3]*a[4][0]*a[5][4] - a[0][5]*a[1][2]*a[3][3]*a[4][4]*a[5][0] - a[0][5]*a[1][2]*a[3][4]*a[4][0]*a[5][3] + a[0][5]*a[1][2]*a[3][4]*a[4][3]*a[5][0] + a[0][5]*a[1][3]*a[3][0]*a[4][2]*a[5][4] - a[0][5]*a[1][3]*a[3][0]*a[4][4]*a[5][2] - a[0][5]*a[1][3]*a[3][2]*a[4][0]*a[5][4] + a[0][5]*a[1][3]*a[3][2]*a[4][4]*a[5][0] + a[0][5]*a[1][3]*a[3][4]*a[4][0]*a[5][2] - a[0][5]*a[1][3]*a[3][4]*a[4][2]*a[5][0] - a[0][5]*a[1][4]*a[3][0]*a[4][2]*a[5][3] + a[0][5]*a[1][4]*a[3][0]*a[4][3]*a[5][2] + a[0][5]*a[1][4]*a[3][2]*a[4][0]*a[5][3] - a[0][5]*a[1][4]*a[3][2]*a[4][3]*a[5][0] - a[0][5]*a[1][4]*a[3][3]*a[4][0]*a[5][2] + a[0][5]*a[1][4]*a[3][3]*a[4][2]*a[5][0])/denom;
  invA[2][2] =  (a[0][0]*a[1][1]*a[3][3]*a[4][4]*a[5][5] - a[0][0]*a[1][1]*a[3][3]*a[4][5]*a[5][4] - a[0][0]*a[1][1]*a[3][4]*a[4][3]*a[5][5] + a[0][0]*a[1][1]*a[3][4]*a[4][5]*a[5][3] + a[0][0]*a[1][1]*a[3][5]*a[4][3]*a[5][4] - a[0][0]*a[1][1]*a[3][5]*a[4][4]*a[5][3] - a[0][0]*a[1][3]*a[3][1]*a[4][4]*a[5][5] + a[0][0]*a[1][3]*a[3][1]*a[4][5]*a[5][4] + a[0][0]*a[1][3]*a[3][4]*a[4][1]*a[5][5] - a[0][0]*a[1][3]*a[3][4]*a[4][5]*a[5][1] - a[0][0]*a[1][3]*a[3][5]*a[4][1]*a[5][4] + a[0][0]*a[1][3]*a[3][5]*a[4][4]*a[5][1] + a[0][0]*a[1][4]*a[3][1]*a[4][3]*a[5][5] - a[0][0]*a[1][4]*a[3][1]*a[4][5]*a[5][3] - a[0][0]*a[1][4]*a[3][3]*a[4][1]*a[5][5] + a[0][0]*a[1][4]*a[3][3]*a[4][5]*a[5][1] + a[0][0]*a[1][4]*a[3][5]*a[4][1]*a[5][3] - a[0][0]*a[1][4]*a[3][5]*a[4][3]*a[5][1] - a[0][0]*a[1][5]*a[3][1]*a[4][3]*a[5][4] + a[0][0]*a[1][5]*a[3][1]*a[4][4]*a[5][3] + a[0][0]*a[1][5]*a[3][3]*a[4][1]*a[5][4] - a[0][0]*a[1][5]*a[3][3]*a[4][4]*a[5][1] - a[0][0]*a[1][5]*a[3][4]*a[4][1]*a[5][3] + a[0][0]*a[1][5]*a[3][4]*a[4][3]*a[5][1] - a[0][1]*a[1][0]*a[3][3]*a[4][4]*a[5][5] + a[0][1]*a[1][0]*a[3][3]*a[4][5]*a[5][4] + a[0][1]*a[1][0]*a[3][4]*a[4][3]*a[5][5] - a[0][1]*a[1][0]*a[3][4]*a[4][5]*a[5][3] - a[0][1]*a[1][0]*a[3][5]*a[4][3]*a[5][4] + a[0][1]*a[1][0]*a[3][5]*a[4][4]*a[5][3] + a[0][1]*a[1][3]*a[3][0]*a[4][4]*a[5][5] - a[0][1]*a[1][3]*a[3][0]*a[4][5]*a[5][4] - a[0][1]*a[1][3]*a[3][4]*a[4][0]*a[5][5] + a[0][1]*a[1][3]*a[3][4]*a[4][5]*a[5][0] + a[0][1]*a[1][3]*a[3][5]*a[4][0]*a[5][4] - a[0][1]*a[1][3]*a[3][5]*a[4][4]*a[5][0] - a[0][1]*a[1][4]*a[3][0]*a[4][3]*a[5][5] + a[0][1]*a[1][4]*a[3][0]*a[4][5]*a[5][3] + a[0][1]*a[1][4]*a[3][3]*a[4][0]*a[5][5] - a[0][1]*a[1][4]*a[3][3]*a[4][5]*a[5][0] - a[0][1]*a[1][4]*a[3][5]*a[4][0]*a[5][3] + a[0][1]*a[1][4]*a[3][5]*a[4][3]*a[5][0] + a[0][1]*a[1][5]*a[3][0]*a[4][3]*a[5][4] - a[0][1]*a[1][5]*a[3][0]*a[4][4]*a[5][3] - a[0][1]*a[1][5]*a[3][3]*a[4][0]*a[5][4] + a[0][1]*a[1][5]*a[3][3]*a[4][4]*a[5][0] + a[0][1]*a[1][5]*a[3][4]*a[4][0]*a[5][3] - a[0][1]*a[1][5]*a[3][4]*a[4][3]*a[5][0] + a[0][3]*a[1][0]*a[3][1]*a[4][4]*a[5][5] - a[0][3]*a[1][0]*a[3][1]*a[4][5]*a[5][4] - a[0][3]*a[1][0]*a[3][4]*a[4][1]*a[5][5] + a[0][3]*a[1][0]*a[3][4]*a[4][5]*a[5][1] + a[0][3]*a[1][0]*a[3][5]*a[4][1]*a[5][4] - a[0][3]*a[1][0]*a[3][5]*a[4][4]*a[5][1] - a[0][3]*a[1][1]*a[3][0]*a[4][4]*a[5][5] + a[0][3]*a[1][1]*a[3][0]*a[4][5]*a[5][4] + a[0][3]*a[1][1]*a[3][4]*a[4][0]*a[5][5] - a[0][3]*a[1][1]*a[3][4]*a[4][5]*a[5][0] - a[0][3]*a[1][1]*a[3][5]*a[4][0]*a[5][4] + a[0][3]*a[1][1]*a[3][5]*a[4][4]*a[5][0] + a[0][3]*a[1][4]*a[3][0]*a[4][1]*a[5][5] - a[0][3]*a[1][4]*a[3][0]*a[4][5]*a[5][1] - a[0][3]*a[1][4]*a[3][1]*a[4][0]*a[5][5] + a[0][3]*a[1][4]*a[3][1]*a[4][5]*a[5][0] + a[0][3]*a[1][4]*a[3][5]*a[4][0]*a[5][1] - a[0][3]*a[1][4]*a[3][5]*a[4][1]*a[5][0] - a[0][3]*a[1][5]*a[3][0]*a[4][1]*a[5][4] + a[0][3]*a[1][5]*a[3][0]*a[4][4]*a[5][1] + a[0][3]*a[1][5]*a[3][1]*a[4][0]*a[5][4] - a[0][3]*a[1][5]*a[3][1]*a[4][4]*a[5][0] - a[0][3]*a[1][5]*a[3][4]*a[4][0]*a[5][1] + a[0][3]*a[1][5]*a[3][4]*a[4][1]*a[5][0] - a[0][4]*a[1][0]*a[3][1]*a[4][3]*a[5][5] + a[0][4]*a[1][0]*a[3][1]*a[4][5]*a[5][3] + a[0][4]*a[1][0]*a[3][3]*a[4][1]*a[5][5] - a[0][4]*a[1][0]*a[3][3]*a[4][5]*a[5][1] - a[0][4]*a[1][0]*a[3][5]*a[4][1]*a[5][3] + a[0][4]*a[1][0]*a[3][5]*a[4][3]*a[5][1] + a[0][4]*a[1][1]*a[3][0]*a[4][3]*a[5][5] - a[0][4]*a[1][1]*a[3][0]*a[4][5]*a[5][3] - a[0][4]*a[1][1]*a[3][3]*a[4][0]*a[5][5] + a[0][4]*a[1][1]*a[3][3]*a[4][5]*a[5][0] + a[0][4]*a[1][1]*a[3][5]*a[4][0]*a[5][3] - a[0][4]*a[1][1]*a[3][5]*a[4][3]*a[5][0] - a[0][4]*a[1][3]*a[3][0]*a[4][1]*a[5][5] + a[0][4]*a[1][3]*a[3][0]*a[4][5]*a[5][1] + a[0][4]*a[1][3]*a[3][1]*a[4][0]*a[5][5] - a[0][4]*a[1][3]*a[3][1]*a[4][5]*a[5][0] - a[0][4]*a[1][3]*a[3][5]*a[4][0]*a[5][1] + a[0][4]*a[1][3]*a[3][5]*a[4][1]*a[5][0] + a[0][4]*a[1][5]*a[3][0]*a[4][1]*a[5][3] - a[0][4]*a[1][5]*a[3][0]*a[4][3]*a[5][1] - a[0][4]*a[1][5]*a[3][1]*a[4][0]*a[5][3] + a[0][4]*a[1][5]*a[3][1]*a[4][3]*a[5][0] + a[0][4]*a[1][5]*a[3][3]*a[4][0]*a[5][1] - a[0][4]*a[1][5]*a[3][3]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[3][1]*a[4][3]*a[5][4] - a[0][5]*a[1][0]*a[3][1]*a[4][4]*a[5][3] - a[0][5]*a[1][0]*a[3][3]*a[4][1]*a[5][4] + a[0][5]*a[1][0]*a[3][3]*a[4][4]*a[5][1] + a[0][5]*a[1][0]*a[3][4]*a[4][1]*a[5][3] - a[0][5]*a[1][0]*a[3][4]*a[4][3]*a[5][1] - a[0][5]*a[1][1]*a[3][0]*a[4][3]*a[5][4] + a[0][5]*a[1][1]*a[3][0]*a[4][4]*a[5][3] + a[0][5]*a[1][1]*a[3][3]*a[4][0]*a[5][4] - a[0][5]*a[1][1]*a[3][3]*a[4][4]*a[5][0] - a[0][5]*a[1][1]*a[3][4]*a[4][0]*a[5][3] + a[0][5]*a[1][1]*a[3][4]*a[4][3]*a[5][0] + a[0][5]*a[1][3]*a[3][0]*a[4][1]*a[5][4] - a[0][5]*a[1][3]*a[3][0]*a[4][4]*a[5][1] - a[0][5]*a[1][3]*a[3][1]*a[4][0]*a[5][4] + a[0][5]*a[1][3]*a[3][1]*a[4][4]*a[5][0] + a[0][5]*a[1][3]*a[3][4]*a[4][0]*a[5][1] - a[0][5]*a[1][3]*a[3][4]*a[4][1]*a[5][0] - a[0][5]*a[1][4]*a[3][0]*a[4][1]*a[5][3] + a[0][5]*a[1][4]*a[3][0]*a[4][3]*a[5][1] + a[0][5]*a[1][4]*a[3][1]*a[4][0]*a[5][3] - a[0][5]*a[1][4]*a[3][1]*a[4][3]*a[5][0] - a[0][5]*a[1][4]*a[3][3]*a[4][0]*a[5][1] + a[0][5]*a[1][4]*a[3][3]*a[4][1]*a[5][0])/denom;
  invA[3][2] = -(a[0][0]*a[1][1]*a[3][2]*a[4][4]*a[5][5] - a[0][0]*a[1][1]*a[3][2]*a[4][5]*a[5][4] - a[0][0]*a[1][1]*a[3][4]*a[4][2]*a[5][5] + a[0][0]*a[1][1]*a[3][4]*a[4][5]*a[5][2] + a[0][0]*a[1][1]*a[3][5]*a[4][2]*a[5][4] - a[0][0]*a[1][1]*a[3][5]*a[4][4]*a[5][2] - a[0][0]*a[1][2]*a[3][1]*a[4][4]*a[5][5] + a[0][0]*a[1][2]*a[3][1]*a[4][5]*a[5][4] + a[0][0]*a[1][2]*a[3][4]*a[4][1]*a[5][5] - a[0][0]*a[1][2]*a[3][4]*a[4][5]*a[5][1] - a[0][0]*a[1][2]*a[3][5]*a[4][1]*a[5][4] + a[0][0]*a[1][2]*a[3][5]*a[4][4]*a[5][1] + a[0][0]*a[1][4]*a[3][1]*a[4][2]*a[5][5] - a[0][0]*a[1][4]*a[3][1]*a[4][5]*a[5][2] - a[0][0]*a[1][4]*a[3][2]*a[4][1]*a[5][5] + a[0][0]*a[1][4]*a[3][2]*a[4][5]*a[5][1] + a[0][0]*a[1][4]*a[3][5]*a[4][1]*a[5][2] - a[0][0]*a[1][4]*a[3][5]*a[4][2]*a[5][1] - a[0][0]*a[1][5]*a[3][1]*a[4][2]*a[5][4] + a[0][0]*a[1][5]*a[3][1]*a[4][4]*a[5][2] + a[0][0]*a[1][5]*a[3][2]*a[4][1]*a[5][4] - a[0][0]*a[1][5]*a[3][2]*a[4][4]*a[5][1] - a[0][0]*a[1][5]*a[3][4]*a[4][1]*a[5][2] + a[0][0]*a[1][5]*a[3][4]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[3][2]*a[4][4]*a[5][5] + a[0][1]*a[1][0]*a[3][2]*a[4][5]*a[5][4] + a[0][1]*a[1][0]*a[3][4]*a[4][2]*a[5][5] - a[0][1]*a[1][0]*a[3][4]*a[4][5]*a[5][2] - a[0][1]*a[1][0]*a[3][5]*a[4][2]*a[5][4] + a[0][1]*a[1][0]*a[3][5]*a[4][4]*a[5][2] + a[0][1]*a[1][2]*a[3][0]*a[4][4]*a[5][5] - a[0][1]*a[1][2]*a[3][0]*a[4][5]*a[5][4] - a[0][1]*a[1][2]*a[3][4]*a[4][0]*a[5][5] + a[0][1]*a[1][2]*a[3][4]*a[4][5]*a[5][0] + a[0][1]*a[1][2]*a[3][5]*a[4][0]*a[5][4] - a[0][1]*a[1][2]*a[3][5]*a[4][4]*a[5][0] - a[0][1]*a[1][4]*a[3][0]*a[4][2]*a[5][5] + a[0][1]*a[1][4]*a[3][0]*a[4][5]*a[5][2] + a[0][1]*a[1][4]*a[3][2]*a[4][0]*a[5][5] - a[0][1]*a[1][4]*a[3][2]*a[4][5]*a[5][0] - a[0][1]*a[1][4]*a[3][5]*a[4][0]*a[5][2] + a[0][1]*a[1][4]*a[3][5]*a[4][2]*a[5][0] + a[0][1]*a[1][5]*a[3][0]*a[4][2]*a[5][4] - a[0][1]*a[1][5]*a[3][0]*a[4][4]*a[5][2] - a[0][1]*a[1][5]*a[3][2]*a[4][0]*a[5][4] + a[0][1]*a[1][5]*a[3][2]*a[4][4]*a[5][0] + a[0][1]*a[1][5]*a[3][4]*a[4][0]*a[5][2] - a[0][1]*a[1][5]*a[3][4]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[3][1]*a[4][4]*a[5][5] - a[0][2]*a[1][0]*a[3][1]*a[4][5]*a[5][4] - a[0][2]*a[1][0]*a[3][4]*a[4][1]*a[5][5] + a[0][2]*a[1][0]*a[3][4]*a[4][5]*a[5][1] + a[0][2]*a[1][0]*a[3][5]*a[4][1]*a[5][4] - a[0][2]*a[1][0]*a[3][5]*a[4][4]*a[5][1] - a[0][2]*a[1][1]*a[3][0]*a[4][4]*a[5][5] + a[0][2]*a[1][1]*a[3][0]*a[4][5]*a[5][4] + a[0][2]*a[1][1]*a[3][4]*a[4][0]*a[5][5] - a[0][2]*a[1][1]*a[3][4]*a[4][5]*a[5][0] - a[0][2]*a[1][1]*a[3][5]*a[4][0]*a[5][4] + a[0][2]*a[1][1]*a[3][5]*a[4][4]*a[5][0] + a[0][2]*a[1][4]*a[3][0]*a[4][1]*a[5][5] - a[0][2]*a[1][4]*a[3][0]*a[4][5]*a[5][1] - a[0][2]*a[1][4]*a[3][1]*a[4][0]*a[5][5] + a[0][2]*a[1][4]*a[3][1]*a[4][5]*a[5][0] + a[0][2]*a[1][4]*a[3][5]*a[4][0]*a[5][1] - a[0][2]*a[1][4]*a[3][5]*a[4][1]*a[5][0] - a[0][2]*a[1][5]*a[3][0]*a[4][1]*a[5][4] + a[0][2]*a[1][5]*a[3][0]*a[4][4]*a[5][1] + a[0][2]*a[1][5]*a[3][1]*a[4][0]*a[5][4] - a[0][2]*a[1][5]*a[3][1]*a[4][4]*a[5][0] - a[0][2]*a[1][5]*a[3][4]*a[4][0]*a[5][1] + a[0][2]*a[1][5]*a[3][4]*a[4][1]*a[5][0] - a[0][4]*a[1][0]*a[3][1]*a[4][2]*a[5][5] + a[0][4]*a[1][0]*a[3][1]*a[4][5]*a[5][2] + a[0][4]*a[1][0]*a[3][2]*a[4][1]*a[5][5] - a[0][4]*a[1][0]*a[3][2]*a[4][5]*a[5][1] - a[0][4]*a[1][0]*a[3][5]*a[4][1]*a[5][2] + a[0][4]*a[1][0]*a[3][5]*a[4][2]*a[5][1] + a[0][4]*a[1][1]*a[3][0]*a[4][2]*a[5][5] - a[0][4]*a[1][1]*a[3][0]*a[4][5]*a[5][2] - a[0][4]*a[1][1]*a[3][2]*a[4][0]*a[5][5] + a[0][4]*a[1][1]*a[3][2]*a[4][5]*a[5][0] + a[0][4]*a[1][1]*a[3][5]*a[4][0]*a[5][2] - a[0][4]*a[1][1]*a[3][5]*a[4][2]*a[5][0] - a[0][4]*a[1][2]*a[3][0]*a[4][1]*a[5][5] + a[0][4]*a[1][2]*a[3][0]*a[4][5]*a[5][1] + a[0][4]*a[1][2]*a[3][1]*a[4][0]*a[5][5] - a[0][4]*a[1][2]*a[3][1]*a[4][5]*a[5][0] - a[0][4]*a[1][2]*a[3][5]*a[4][0]*a[5][1] + a[0][4]*a[1][2]*a[3][5]*a[4][1]*a[5][0] + a[0][4]*a[1][5]*a[3][0]*a[4][1]*a[5][2] - a[0][4]*a[1][5]*a[3][0]*a[4][2]*a[5][1] - a[0][4]*a[1][5]*a[3][1]*a[4][0]*a[5][2] + a[0][4]*a[1][5]*a[3][1]*a[4][2]*a[5][0] + a[0][4]*a[1][5]*a[3][2]*a[4][0]*a[5][1] - a[0][4]*a[1][5]*a[3][2]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[3][1]*a[4][2]*a[5][4] - a[0][5]*a[1][0]*a[3][1]*a[4][4]*a[5][2] - a[0][5]*a[1][0]*a[3][2]*a[4][1]*a[5][4] + a[0][5]*a[1][0]*a[3][2]*a[4][4]*a[5][1] + a[0][5]*a[1][0]*a[3][4]*a[4][1]*a[5][2] - a[0][5]*a[1][0]*a[3][4]*a[4][2]*a[5][1] - a[0][5]*a[1][1]*a[3][0]*a[4][2]*a[5][4] + a[0][5]*a[1][1]*a[3][0]*a[4][4]*a[5][2] + a[0][5]*a[1][1]*a[3][2]*a[4][0]*a[5][4] - a[0][5]*a[1][1]*a[3][2]*a[4][4]*a[5][0] - a[0][5]*a[1][1]*a[3][4]*a[4][0]*a[5][2] + a[0][5]*a[1][1]*a[3][4]*a[4][2]*a[5][0] + a[0][5]*a[1][2]*a[3][0]*a[4][1]*a[5][4] - a[0][5]*a[1][2]*a[3][0]*a[4][4]*a[5][1] - a[0][5]*a[1][2]*a[3][1]*a[4][0]*a[5][4] + a[0][5]*a[1][2]*a[3][1]*a[4][4]*a[5][0] + a[0][5]*a[1][2]*a[3][4]*a[4][0]*a[5][1] - a[0][5]*a[1][2]*a[3][4]*a[4][1]*a[5][0] - a[0][5]*a[1][4]*a[3][0]*a[4][1]*a[5][2] + a[0][5]*a[1][4]*a[3][0]*a[4][2]*a[5][1] + a[0][5]*a[1][4]*a[3][1]*a[4][0]*a[5][2] - a[0][5]*a[1][4]*a[3][1]*a[4][2]*a[5][0] - a[0][5]*a[1][4]*a[3][2]*a[4][0]*a[5][1] + a[0][5]*a[1][4]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[4][2] =  (a[0][0]*a[1][1]*a[3][2]*a[4][3]*a[5][5] - a[0][0]*a[1][1]*a[3][2]*a[4][5]*a[5][3] - a[0][0]*a[1][1]*a[3][3]*a[4][2]*a[5][5] + a[0][0]*a[1][1]*a[3][3]*a[4][5]*a[5][2] + a[0][0]*a[1][1]*a[3][5]*a[4][2]*a[5][3] - a[0][0]*a[1][1]*a[3][5]*a[4][3]*a[5][2] - a[0][0]*a[1][2]*a[3][1]*a[4][3]*a[5][5] + a[0][0]*a[1][2]*a[3][1]*a[4][5]*a[5][3] + a[0][0]*a[1][2]*a[3][3]*a[4][1]*a[5][5] - a[0][0]*a[1][2]*a[3][3]*a[4][5]*a[5][1] - a[0][0]*a[1][2]*a[3][5]*a[4][1]*a[5][3] + a[0][0]*a[1][2]*a[3][5]*a[4][3]*a[5][1] + a[0][0]*a[1][3]*a[3][1]*a[4][2]*a[5][5] - a[0][0]*a[1][3]*a[3][1]*a[4][5]*a[5][2] - a[0][0]*a[1][3]*a[3][2]*a[4][1]*a[5][5] + a[0][0]*a[1][3]*a[3][2]*a[4][5]*a[5][1] + a[0][0]*a[1][3]*a[3][5]*a[4][1]*a[5][2] - a[0][0]*a[1][3]*a[3][5]*a[4][2]*a[5][1] - a[0][0]*a[1][5]*a[3][1]*a[4][2]*a[5][3] + a[0][0]*a[1][5]*a[3][1]*a[4][3]*a[5][2] + a[0][0]*a[1][5]*a[3][2]*a[4][1]*a[5][3] - a[0][0]*a[1][5]*a[3][2]*a[4][3]*a[5][1] - a[0][0]*a[1][5]*a[3][3]*a[4][1]*a[5][2] + a[0][0]*a[1][5]*a[3][3]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[3][2]*a[4][3]*a[5][5] + a[0][1]*a[1][0]*a[3][2]*a[4][5]*a[5][3] + a[0][1]*a[1][0]*a[3][3]*a[4][2]*a[5][5] - a[0][1]*a[1][0]*a[3][3]*a[4][5]*a[5][2] - a[0][1]*a[1][0]*a[3][5]*a[4][2]*a[5][3] + a[0][1]*a[1][0]*a[3][5]*a[4][3]*a[5][2] + a[0][1]*a[1][2]*a[3][0]*a[4][3]*a[5][5] - a[0][1]*a[1][2]*a[3][0]*a[4][5]*a[5][3] - a[0][1]*a[1][2]*a[3][3]*a[4][0]*a[5][5] + a[0][1]*a[1][2]*a[3][3]*a[4][5]*a[5][0] + a[0][1]*a[1][2]*a[3][5]*a[4][0]*a[5][3] - a[0][1]*a[1][2]*a[3][5]*a[4][3]*a[5][0] - a[0][1]*a[1][3]*a[3][0]*a[4][2]*a[5][5] + a[0][1]*a[1][3]*a[3][0]*a[4][5]*a[5][2] + a[0][1]*a[1][3]*a[3][2]*a[4][0]*a[5][5] - a[0][1]*a[1][3]*a[3][2]*a[4][5]*a[5][0] - a[0][1]*a[1][3]*a[3][5]*a[4][0]*a[5][2] + a[0][1]*a[1][3]*a[3][5]*a[4][2]*a[5][0] + a[0][1]*a[1][5]*a[3][0]*a[4][2]*a[5][3] - a[0][1]*a[1][5]*a[3][0]*a[4][3]*a[5][2] - a[0][1]*a[1][5]*a[3][2]*a[4][0]*a[5][3] + a[0][1]*a[1][5]*a[3][2]*a[4][3]*a[5][0] + a[0][1]*a[1][5]*a[3][3]*a[4][0]*a[5][2] - a[0][1]*a[1][5]*a[3][3]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[3][1]*a[4][3]*a[5][5] - a[0][2]*a[1][0]*a[3][1]*a[4][5]*a[5][3] - a[0][2]*a[1][0]*a[3][3]*a[4][1]*a[5][5] + a[0][2]*a[1][0]*a[3][3]*a[4][5]*a[5][1] + a[0][2]*a[1][0]*a[3][5]*a[4][1]*a[5][3] - a[0][2]*a[1][0]*a[3][5]*a[4][3]*a[5][1] - a[0][2]*a[1][1]*a[3][0]*a[4][3]*a[5][5] + a[0][2]*a[1][1]*a[3][0]*a[4][5]*a[5][3] + a[0][2]*a[1][1]*a[3][3]*a[4][0]*a[5][5] - a[0][2]*a[1][1]*a[3][3]*a[4][5]*a[5][0] - a[0][2]*a[1][1]*a[3][5]*a[4][0]*a[5][3] + a[0][2]*a[1][1]*a[3][5]*a[4][3]*a[5][0] + a[0][2]*a[1][3]*a[3][0]*a[4][1]*a[5][5] - a[0][2]*a[1][3]*a[3][0]*a[4][5]*a[5][1] - a[0][2]*a[1][3]*a[3][1]*a[4][0]*a[5][5] + a[0][2]*a[1][3]*a[3][1]*a[4][5]*a[5][0] + a[0][2]*a[1][3]*a[3][5]*a[4][0]*a[5][1] - a[0][2]*a[1][3]*a[3][5]*a[4][1]*a[5][0] - a[0][2]*a[1][5]*a[3][0]*a[4][1]*a[5][3] + a[0][2]*a[1][5]*a[3][0]*a[4][3]*a[5][1] + a[0][2]*a[1][5]*a[3][1]*a[4][0]*a[5][3] - a[0][2]*a[1][5]*a[3][1]*a[4][3]*a[5][0] - a[0][2]*a[1][5]*a[3][3]*a[4][0]*a[5][1] + a[0][2]*a[1][5]*a[3][3]*a[4][1]*a[5][0] - a[0][3]*a[1][0]*a[3][1]*a[4][2]*a[5][5] + a[0][3]*a[1][0]*a[3][1]*a[4][5]*a[5][2] + a[0][3]*a[1][0]*a[3][2]*a[4][1]*a[5][5] - a[0][3]*a[1][0]*a[3][2]*a[4][5]*a[5][1] - a[0][3]*a[1][0]*a[3][5]*a[4][1]*a[5][2] + a[0][3]*a[1][0]*a[3][5]*a[4][2]*a[5][1] + a[0][3]*a[1][1]*a[3][0]*a[4][2]*a[5][5] - a[0][3]*a[1][1]*a[3][0]*a[4][5]*a[5][2] - a[0][3]*a[1][1]*a[3][2]*a[4][0]*a[5][5] + a[0][3]*a[1][1]*a[3][2]*a[4][5]*a[5][0] + a[0][3]*a[1][1]*a[3][5]*a[4][0]*a[5][2] - a[0][3]*a[1][1]*a[3][5]*a[4][2]*a[5][0] - a[0][3]*a[1][2]*a[3][0]*a[4][1]*a[5][5] + a[0][3]*a[1][2]*a[3][0]*a[4][5]*a[5][1] + a[0][3]*a[1][2]*a[3][1]*a[4][0]*a[5][5] - a[0][3]*a[1][2]*a[3][1]*a[4][5]*a[5][0] - a[0][3]*a[1][2]*a[3][5]*a[4][0]*a[5][1] + a[0][3]*a[1][2]*a[3][5]*a[4][1]*a[5][0] + a[0][3]*a[1][5]*a[3][0]*a[4][1]*a[5][2] - a[0][3]*a[1][5]*a[3][0]*a[4][2]*a[5][1] - a[0][3]*a[1][5]*a[3][1]*a[4][0]*a[5][2] + a[0][3]*a[1][5]*a[3][1]*a[4][2]*a[5][0] + a[0][3]*a[1][5]*a[3][2]*a[4][0]*a[5][1] - a[0][3]*a[1][5]*a[3][2]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[3][1]*a[4][2]*a[5][3] - a[0][5]*a[1][0]*a[3][1]*a[4][3]*a[5][2] - a[0][5]*a[1][0]*a[3][2]*a[4][1]*a[5][3] + a[0][5]*a[1][0]*a[3][2]*a[4][3]*a[5][1] + a[0][5]*a[1][0]*a[3][3]*a[4][1]*a[5][2] - a[0][5]*a[1][0]*a[3][3]*a[4][2]*a[5][1] - a[0][5]*a[1][1]*a[3][0]*a[4][2]*a[5][3] + a[0][5]*a[1][1]*a[3][0]*a[4][3]*a[5][2] + a[0][5]*a[1][1]*a[3][2]*a[4][0]*a[5][3] - a[0][5]*a[1][1]*a[3][2]*a[4][3]*a[5][0] - a[0][5]*a[1][1]*a[3][3]*a[4][0]*a[5][2] + a[0][5]*a[1][1]*a[3][3]*a[4][2]*a[5][0] + a[0][5]*a[1][2]*a[3][0]*a[4][1]*a[5][3] - a[0][5]*a[1][2]*a[3][0]*a[4][3]*a[5][1] - a[0][5]*a[1][2]*a[3][1]*a[4][0]*a[5][3] + a[0][5]*a[1][2]*a[3][1]*a[4][3]*a[5][0] + a[0][5]*a[1][2]*a[3][3]*a[4][0]*a[5][1] - a[0][5]*a[1][2]*a[3][3]*a[4][1]*a[5][0] - a[0][5]*a[1][3]*a[3][0]*a[4][1]*a[5][2] + a[0][5]*a[1][3]*a[3][0]*a[4][2]*a[5][1] + a[0][5]*a[1][3]*a[3][1]*a[4][0]*a[5][2] - a[0][5]*a[1][3]*a[3][1]*a[4][2]*a[5][0] - a[0][5]*a[1][3]*a[3][2]*a[4][0]*a[5][1] + a[0][5]*a[1][3]*a[3][2]*a[4][1]*a[5][0])/denom;
  invA[5][2] = -(a[0][0]*a[1][1]*a[3][2]*a[4][3]*a[5][4] - a[0][0]*a[1][1]*a[3][2]*a[4][4]*a[5][3] - a[0][0]*a[1][1]*a[3][3]*a[4][2]*a[5][4] + a[0][0]*a[1][1]*a[3][3]*a[4][4]*a[5][2] + a[0][0]*a[1][1]*a[3][4]*a[4][2]*a[5][3] - a[0][0]*a[1][1]*a[3][4]*a[4][3]*a[5][2] - a[0][0]*a[1][2]*a[3][1]*a[4][3]*a[5][4] + a[0][0]*a[1][2]*a[3][1]*a[4][4]*a[5][3] + a[0][0]*a[1][2]*a[3][3]*a[4][1]*a[5][4] - a[0][0]*a[1][2]*a[3][3]*a[4][4]*a[5][1] - a[0][0]*a[1][2]*a[3][4]*a[4][1]*a[5][3] + a[0][0]*a[1][2]*a[3][4]*a[4][3]*a[5][1] + a[0][0]*a[1][3]*a[3][1]*a[4][2]*a[5][4] - a[0][0]*a[1][3]*a[3][1]*a[4][4]*a[5][2] - a[0][0]*a[1][3]*a[3][2]*a[4][1]*a[5][4] + a[0][0]*a[1][3]*a[3][2]*a[4][4]*a[5][1] + a[0][0]*a[1][3]*a[3][4]*a[4][1]*a[5][2] - a[0][0]*a[1][3]*a[3][4]*a[4][2]*a[5][1] - a[0][0]*a[1][4]*a[3][1]*a[4][2]*a[5][3] + a[0][0]*a[1][4]*a[3][1]*a[4][3]*a[5][2] + a[0][0]*a[1][4]*a[3][2]*a[4][1]*a[5][3] - a[0][0]*a[1][4]*a[3][2]*a[4][3]*a[5][1] - a[0][0]*a[1][4]*a[3][3]*a[4][1]*a[5][2] + a[0][0]*a[1][4]*a[3][3]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[3][2]*a[4][3]*a[5][4] + a[0][1]*a[1][0]*a[3][2]*a[4][4]*a[5][3] + a[0][1]*a[1][0]*a[3][3]*a[4][2]*a[5][4] - a[0][1]*a[1][0]*a[3][3]*a[4][4]*a[5][2] - a[0][1]*a[1][0]*a[3][4]*a[4][2]*a[5][3] + a[0][1]*a[1][0]*a[3][4]*a[4][3]*a[5][2] + a[0][1]*a[1][2]*a[3][0]*a[4][3]*a[5][4] - a[0][1]*a[1][2]*a[3][0]*a[4][4]*a[5][3] - a[0][1]*a[1][2]*a[3][3]*a[4][0]*a[5][4] + a[0][1]*a[1][2]*a[3][3]*a[4][4]*a[5][0] + a[0][1]*a[1][2]*a[3][4]*a[4][0]*a[5][3] - a[0][1]*a[1][2]*a[3][4]*a[4][3]*a[5][0] - a[0][1]*a[1][3]*a[3][0]*a[4][2]*a[5][4] + a[0][1]*a[1][3]*a[3][0]*a[4][4]*a[5][2] + a[0][1]*a[1][3]*a[3][2]*a[4][0]*a[5][4] - a[0][1]*a[1][3]*a[3][2]*a[4][4]*a[5][0] - a[0][1]*a[1][3]*a[3][4]*a[4][0]*a[5][2] + a[0][1]*a[1][3]*a[3][4]*a[4][2]*a[5][0] + a[0][1]*a[1][4]*a[3][0]*a[4][2]*a[5][3] - a[0][1]*a[1][4]*a[3][0]*a[4][3]*a[5][2] - a[0][1]*a[1][4]*a[3][2]*a[4][0]*a[5][3] + a[0][1]*a[1][4]*a[3][2]*a[4][3]*a[5][0] + a[0][1]*a[1][4]*a[3][3]*a[4][0]*a[5][2] - a[0][1]*a[1][4]*a[3][3]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[3][1]*a[4][3]*a[5][4] - a[0][2]*a[1][0]*a[3][1]*a[4][4]*a[5][3] - a[0][2]*a[1][0]*a[3][3]*a[4][1]*a[5][4] + a[0][2]*a[1][0]*a[3][3]*a[4][4]*a[5][1] + a[0][2]*a[1][0]*a[3][4]*a[4][1]*a[5][3] - a[0][2]*a[1][0]*a[3][4]*a[4][3]*a[5][1] - a[0][2]*a[1][1]*a[3][0]*a[4][3]*a[5][4] + a[0][2]*a[1][1]*a[3][0]*a[4][4]*a[5][3] + a[0][2]*a[1][1]*a[3][3]*a[4][0]*a[5][4] - a[0][2]*a[1][1]*a[3][3]*a[4][4]*a[5][0] - a[0][2]*a[1][1]*a[3][4]*a[4][0]*a[5][3] + a[0][2]*a[1][1]*a[3][4]*a[4][3]*a[5][0] + a[0][2]*a[1][3]*a[3][0]*a[4][1]*a[5][4] - a[0][2]*a[1][3]*a[3][0]*a[4][4]*a[5][1] - a[0][2]*a[1][3]*a[3][1]*a[4][0]*a[5][4] + a[0][2]*a[1][3]*a[3][1]*a[4][4]*a[5][0] + a[0][2]*a[1][3]*a[3][4]*a[4][0]*a[5][1] - a[0][2]*a[1][3]*a[3][4]*a[4][1]*a[5][0] - a[0][2]*a[1][4]*a[3][0]*a[4][1]*a[5][3] + a[0][2]*a[1][4]*a[3][0]*a[4][3]*a[5][1] + a[0][2]*a[1][4]*a[3][1]*a[4][0]*a[5][3] - a[0][2]*a[1][4]*a[3][1]*a[4][3]*a[5][0] - a[0][2]*a[1][4]*a[3][3]*a[4][0]*a[5][1] + a[0][2]*a[1][4]*a[3][3]*a[4][1]*a[5][0] - a[0][3]*a[1][0]*a[3][1]*a[4][2]*a[5][4] + a[0][3]*a[1][0]*a[3][1]*a[4][4]*a[5][2] + a[0][3]*a[1][0]*a[3][2]*a[4][1]*a[5][4] - a[0][3]*a[1][0]*a[3][2]*a[4][4]*a[5][1] - a[0][3]*a[1][0]*a[3][4]*a[4][1]*a[5][2] + a[0][3]*a[1][0]*a[3][4]*a[4][2]*a[5][1] + a[0][3]*a[1][1]*a[3][0]*a[4][2]*a[5][4] - a[0][3]*a[1][1]*a[3][0]*a[4][4]*a[5][2] - a[0][3]*a[1][1]*a[3][2]*a[4][0]*a[5][4] + a[0][3]*a[1][1]*a[3][2]*a[4][4]*a[5][0] + a[0][3]*a[1][1]*a[3][4]*a[4][0]*a[5][2] - a[0][3]*a[1][1]*a[3][4]*a[4][2]*a[5][0] - a[0][3]*a[1][2]*a[3][0]*a[4][1]*a[5][4] + a[0][3]*a[1][2]*a[3][0]*a[4][4]*a[5][1] + a[0][3]*a[1][2]*a[3][1]*a[4][0]*a[5][4] - a[0][3]*a[1][2]*a[3][1]*a[4][4]*a[5][0] - a[0][3]*a[1][2]*a[3][4]*a[4][0]*a[5][1] + a[0][3]*a[1][2]*a[3][4]*a[4][1]*a[5][0] + a[0][3]*a[1][4]*a[3][0]*a[4][1]*a[5][2] - a[0][3]*a[1][4]*a[3][0]*a[4][2]*a[5][1] - a[0][3]*a[1][4]*a[3][1]*a[4][0]*a[5][2] + a[0][3]*a[1][4]*a[3][1]*a[4][2]*a[5][0] + a[0][3]*a[1][4]*a[3][2]*a[4][0]*a[5][1] - a[0][3]*a[1][4]*a[3][2]*a[4][1]*a[5][0] + a[0][4]*a[1][0]*a[3][1]*a[4][2]*a[5][3] - a[0][4]*a[1][0]*a[3][1]*a[4][3]*a[5][2] - a[0][4]*a[1][0]*a[3][2]*a[4][1]*a[5][3] + a[0][4]*a[1][0]*a[3][2]*a[4][3]*a[5][1] + a[0][4]*a[1][0]*a[3][3]*a[4][1]*a[5][2] - a[0][4]*a[1][0]*a[3][3]*a[4][2]*a[5][1] - a[0][4]*a[1][1]*a[3][0]*a[4][2]*a[5][3] + a[0][4]*a[1][1]*a[3][0]*a[4][3]*a[5][2] + a[0][4]*a[1][1]*a[3][2]*a[4][0]*a[5][3] - a[0][4]*a[1][1]*a[3][2]*a[4][3]*a[5][0] - a[0][4]*a[1][1]*a[3][3]*a[4][0]*a[5][2] + a[0][4]*a[1][1]*a[3][3]*a[4][2]*a[5][0] + a[0][4]*a[1][2]*a[3][0]*a[4][1]*a[5][3] - a[0][4]*a[1][2]*a[3][0]*a[4][3]*a[5][1] - a[0][4]*a[1][2]*a[3][1]*a[4][0]*a[5][3] + a[0][4]*a[1][2]*a[3][1]*a[4][3]*a[5][0] + a[0][4]*a[1][2]*a[3][3]*a[4][0]*a[5][1] - a[0][4]*a[1][2]*a[3][3]*a[4][1]*a[5][0] - a[0][4]*a[1][3]*a[3][0]*a[4][1]*a[5][2] + a[0][4]*a[1][3]*a[3][0]*a[4][2]*a[5][1] + a[0][4]*a[1][3]*a[3][1]*a[4][0]*a[5][2] - a[0][4]*a[1][3]*a[3][1]*a[4][2]*a[5][0] - a[0][4]*a[1][3]*a[3][2]*a[4][0]*a[5][1] + a[0][4]*a[1][3]*a[3][2]*a[4][1]*a[5][0])/denom;

  invA[0][3] = -(a[0][1]*a[1][2]*a[2][3]*a[4][4]*a[5][5] - a[0][1]*a[1][2]*a[2][3]*a[4][5]*a[5][4] - a[0][1]*a[1][2]*a[2][4]*a[4][3]*a[5][5] + a[0][1]*a[1][2]*a[2][4]*a[4][5]*a[5][3] + a[0][1]*a[1][2]*a[2][5]*a[4][3]*a[5][4] - a[0][1]*a[1][2]*a[2][5]*a[4][4]*a[5][3] - a[0][1]*a[1][3]*a[2][2]*a[4][4]*a[5][5] + a[0][1]*a[1][3]*a[2][2]*a[4][5]*a[5][4] + a[0][1]*a[1][3]*a[2][4]*a[4][2]*a[5][5] - a[0][1]*a[1][3]*a[2][4]*a[4][5]*a[5][2] - a[0][1]*a[1][3]*a[2][5]*a[4][2]*a[5][4] + a[0][1]*a[1][3]*a[2][5]*a[4][4]*a[5][2] + a[0][1]*a[1][4]*a[2][2]*a[4][3]*a[5][5] - a[0][1]*a[1][4]*a[2][2]*a[4][5]*a[5][3] - a[0][1]*a[1][4]*a[2][3]*a[4][2]*a[5][5] + a[0][1]*a[1][4]*a[2][3]*a[4][5]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[4][2]*a[5][3] - a[0][1]*a[1][4]*a[2][5]*a[4][3]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[4][3]*a[5][4] + a[0][1]*a[1][5]*a[2][2]*a[4][4]*a[5][3] + a[0][1]*a[1][5]*a[2][3]*a[4][2]*a[5][4] - a[0][1]*a[1][5]*a[2][3]*a[4][4]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[4][2]*a[5][3] + a[0][1]*a[1][5]*a[2][4]*a[4][3]*a[5][2] - a[0][2]*a[1][1]*a[2][3]*a[4][4]*a[5][5] + a[0][2]*a[1][1]*a[2][3]*a[4][5]*a[5][4] + a[0][2]*a[1][1]*a[2][4]*a[4][3]*a[5][5] - a[0][2]*a[1][1]*a[2][4]*a[4][5]*a[5][3] - a[0][2]*a[1][1]*a[2][5]*a[4][3]*a[5][4] + a[0][2]*a[1][1]*a[2][5]*a[4][4]*a[5][3] + a[0][2]*a[1][3]*a[2][1]*a[4][4]*a[5][5] - a[0][2]*a[1][3]*a[2][1]*a[4][5]*a[5][4] - a[0][2]*a[1][3]*a[2][4]*a[4][1]*a[5][5] + a[0][2]*a[1][3]*a[2][4]*a[4][5]*a[5][1] + a[0][2]*a[1][3]*a[2][5]*a[4][1]*a[5][4] - a[0][2]*a[1][3]*a[2][5]*a[4][4]*a[5][1] - a[0][2]*a[1][4]*a[2][1]*a[4][3]*a[5][5] + a[0][2]*a[1][4]*a[2][1]*a[4][5]*a[5][3] + a[0][2]*a[1][4]*a[2][3]*a[4][1]*a[5][5] - a[0][2]*a[1][4]*a[2][3]*a[4][5]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[4][1]*a[5][3] + a[0][2]*a[1][4]*a[2][5]*a[4][3]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[4][3]*a[5][4] - a[0][2]*a[1][5]*a[2][1]*a[4][4]*a[5][3] - a[0][2]*a[1][5]*a[2][3]*a[4][1]*a[5][4] + a[0][2]*a[1][5]*a[2][3]*a[4][4]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[4][1]*a[5][3] - a[0][2]*a[1][5]*a[2][4]*a[4][3]*a[5][1] + a[0][3]*a[1][1]*a[2][2]*a[4][4]*a[5][5] - a[0][3]*a[1][1]*a[2][2]*a[4][5]*a[5][4] - a[0][3]*a[1][1]*a[2][4]*a[4][2]*a[5][5] + a[0][3]*a[1][1]*a[2][4]*a[4][5]*a[5][2] + a[0][3]*a[1][1]*a[2][5]*a[4][2]*a[5][4] - a[0][3]*a[1][1]*a[2][5]*a[4][4]*a[5][2] - a[0][3]*a[1][2]*a[2][1]*a[4][4]*a[5][5] + a[0][3]*a[1][2]*a[2][1]*a[4][5]*a[5][4] + a[0][3]*a[1][2]*a[2][4]*a[4][1]*a[5][5] - a[0][3]*a[1][2]*a[2][4]*a[4][5]*a[5][1] - a[0][3]*a[1][2]*a[2][5]*a[4][1]*a[5][4] + a[0][3]*a[1][2]*a[2][5]*a[4][4]*a[5][1] + a[0][3]*a[1][4]*a[2][1]*a[4][2]*a[5][5] - a[0][3]*a[1][4]*a[2][1]*a[4][5]*a[5][2] - a[0][3]*a[1][4]*a[2][2]*a[4][1]*a[5][5] + a[0][3]*a[1][4]*a[2][2]*a[4][5]*a[5][1] + a[0][3]*a[1][4]*a[2][5]*a[4][1]*a[5][2] - a[0][3]*a[1][4]*a[2][5]*a[4][2]*a[5][1] - a[0][3]*a[1][5]*a[2][1]*a[4][2]*a[5][4] + a[0][3]*a[1][5]*a[2][1]*a[4][4]*a[5][2] + a[0][3]*a[1][5]*a[2][2]*a[4][1]*a[5][4] - a[0][3]*a[1][5]*a[2][2]*a[4][4]*a[5][1] - a[0][3]*a[1][5]*a[2][4]*a[4][1]*a[5][2] + a[0][3]*a[1][5]*a[2][4]*a[4][2]*a[5][1] - a[0][4]*a[1][1]*a[2][2]*a[4][3]*a[5][5] + a[0][4]*a[1][1]*a[2][2]*a[4][5]*a[5][3] + a[0][4]*a[1][1]*a[2][3]*a[4][2]*a[5][5] - a[0][4]*a[1][1]*a[2][3]*a[4][5]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[4][2]*a[5][3] + a[0][4]*a[1][1]*a[2][5]*a[4][3]*a[5][2] + a[0][4]*a[1][2]*a[2][1]*a[4][3]*a[5][5] - a[0][4]*a[1][2]*a[2][1]*a[4][5]*a[5][3] - a[0][4]*a[1][2]*a[2][3]*a[4][1]*a[5][5] + a[0][4]*a[1][2]*a[2][3]*a[4][5]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[4][1]*a[5][3] - a[0][4]*a[1][2]*a[2][5]*a[4][3]*a[5][1] - a[0][4]*a[1][3]*a[2][1]*a[4][2]*a[5][5] + a[0][4]*a[1][3]*a[2][1]*a[4][5]*a[5][2] + a[0][4]*a[1][3]*a[2][2]*a[4][1]*a[5][5] - a[0][4]*a[1][3]*a[2][2]*a[4][5]*a[5][1] - a[0][4]*a[1][3]*a[2][5]*a[4][1]*a[5][2] + a[0][4]*a[1][3]*a[2][5]*a[4][2]*a[5][1] + a[0][4]*a[1][5]*a[2][1]*a[4][2]*a[5][3] - a[0][4]*a[1][5]*a[2][1]*a[4][3]*a[5][2] - a[0][4]*a[1][5]*a[2][2]*a[4][1]*a[5][3] + a[0][4]*a[1][5]*a[2][2]*a[4][3]*a[5][1] + a[0][4]*a[1][5]*a[2][3]*a[4][1]*a[5][2] - a[0][4]*a[1][5]*a[2][3]*a[4][2]*a[5][1] + a[0][5]*a[1][1]*a[2][2]*a[4][3]*a[5][4] - a[0][5]*a[1][1]*a[2][2]*a[4][4]*a[5][3] - a[0][5]*a[1][1]*a[2][3]*a[4][2]*a[5][4] + a[0][5]*a[1][1]*a[2][3]*a[4][4]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[4][2]*a[5][3] - a[0][5]*a[1][1]*a[2][4]*a[4][3]*a[5][2] - a[0][5]*a[1][2]*a[2][1]*a[4][3]*a[5][4] + a[0][5]*a[1][2]*a[2][1]*a[4][4]*a[5][3] + a[0][5]*a[1][2]*a[2][3]*a[4][1]*a[5][4] - a[0][5]*a[1][2]*a[2][3]*a[4][4]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[4][1]*a[5][3] + a[0][5]*a[1][2]*a[2][4]*a[4][3]*a[5][1] + a[0][5]*a[1][3]*a[2][1]*a[4][2]*a[5][4] - a[0][5]*a[1][3]*a[2][1]*a[4][4]*a[5][2] - a[0][5]*a[1][3]*a[2][2]*a[4][1]*a[5][4] + a[0][5]*a[1][3]*a[2][2]*a[4][4]*a[5][1] + a[0][5]*a[1][3]*a[2][4]*a[4][1]*a[5][2] - a[0][5]*a[1][3]*a[2][4]*a[4][2]*a[5][1] - a[0][5]*a[1][4]*a[2][1]*a[4][2]*a[5][3] + a[0][5]*a[1][4]*a[2][1]*a[4][3]*a[5][2] + a[0][5]*a[1][4]*a[2][2]*a[4][1]*a[5][3] - a[0][5]*a[1][4]*a[2][2]*a[4][3]*a[5][1] - a[0][5]*a[1][4]*a[2][3]*a[4][1]*a[5][2] + a[0][5]*a[1][4]*a[2][3]*a[4][2]*a[5][1])/denom;
  invA[1][3] =  (a[0][0]*a[1][2]*a[2][3]*a[4][4]*a[5][5] - a[0][0]*a[1][2]*a[2][3]*a[4][5]*a[5][4] - a[0][0]*a[1][2]*a[2][4]*a[4][3]*a[5][5] + a[0][0]*a[1][2]*a[2][4]*a[4][5]*a[5][3] + a[0][0]*a[1][2]*a[2][5]*a[4][3]*a[5][4] - a[0][0]*a[1][2]*a[2][5]*a[4][4]*a[5][3] - a[0][0]*a[1][3]*a[2][2]*a[4][4]*a[5][5] + a[0][0]*a[1][3]*a[2][2]*a[4][5]*a[5][4] + a[0][0]*a[1][3]*a[2][4]*a[4][2]*a[5][5] - a[0][0]*a[1][3]*a[2][4]*a[4][5]*a[5][2] - a[0][0]*a[1][3]*a[2][5]*a[4][2]*a[5][4] + a[0][0]*a[1][3]*a[2][5]*a[4][4]*a[5][2] + a[0][0]*a[1][4]*a[2][2]*a[4][3]*a[5][5] - a[0][0]*a[1][4]*a[2][2]*a[4][5]*a[5][3] - a[0][0]*a[1][4]*a[2][3]*a[4][2]*a[5][5] + a[0][0]*a[1][4]*a[2][3]*a[4][5]*a[5][2] + a[0][0]*a[1][4]*a[2][5]*a[4][2]*a[5][3] - a[0][0]*a[1][4]*a[2][5]*a[4][3]*a[5][2] - a[0][0]*a[1][5]*a[2][2]*a[4][3]*a[5][4] + a[0][0]*a[1][5]*a[2][2]*a[4][4]*a[5][3] + a[0][0]*a[1][5]*a[2][3]*a[4][2]*a[5][4] - a[0][0]*a[1][5]*a[2][3]*a[4][4]*a[5][2] - a[0][0]*a[1][5]*a[2][4]*a[4][2]*a[5][3] + a[0][0]*a[1][5]*a[2][4]*a[4][3]*a[5][2] - a[0][2]*a[1][0]*a[2][3]*a[4][4]*a[5][5] + a[0][2]*a[1][0]*a[2][3]*a[4][5]*a[5][4] + a[0][2]*a[1][0]*a[2][4]*a[4][3]*a[5][5] - a[0][2]*a[1][0]*a[2][4]*a[4][5]*a[5][3] - a[0][2]*a[1][0]*a[2][5]*a[4][3]*a[5][4] + a[0][2]*a[1][0]*a[2][5]*a[4][4]*a[5][3] + a[0][2]*a[1][3]*a[2][0]*a[4][4]*a[5][5] - a[0][2]*a[1][3]*a[2][0]*a[4][5]*a[5][4] - a[0][2]*a[1][3]*a[2][4]*a[4][0]*a[5][5] + a[0][2]*a[1][3]*a[2][4]*a[4][5]*a[5][0] + a[0][2]*a[1][3]*a[2][5]*a[4][0]*a[5][4] - a[0][2]*a[1][3]*a[2][5]*a[4][4]*a[5][0] - a[0][2]*a[1][4]*a[2][0]*a[4][3]*a[5][5] + a[0][2]*a[1][4]*a[2][0]*a[4][5]*a[5][3] + a[0][2]*a[1][4]*a[2][3]*a[4][0]*a[5][5] - a[0][2]*a[1][4]*a[2][3]*a[4][5]*a[5][0] - a[0][2]*a[1][4]*a[2][5]*a[4][0]*a[5][3] + a[0][2]*a[1][4]*a[2][5]*a[4][3]*a[5][0] + a[0][2]*a[1][5]*a[2][0]*a[4][3]*a[5][4] - a[0][2]*a[1][5]*a[2][0]*a[4][4]*a[5][3] - a[0][2]*a[1][5]*a[2][3]*a[4][0]*a[5][4] + a[0][2]*a[1][5]*a[2][3]*a[4][4]*a[5][0] + a[0][2]*a[1][5]*a[2][4]*a[4][0]*a[5][3] - a[0][2]*a[1][5]*a[2][4]*a[4][3]*a[5][0] + a[0][3]*a[1][0]*a[2][2]*a[4][4]*a[5][5] - a[0][3]*a[1][0]*a[2][2]*a[4][5]*a[5][4] - a[0][3]*a[1][0]*a[2][4]*a[4][2]*a[5][5] + a[0][3]*a[1][0]*a[2][4]*a[4][5]*a[5][2] + a[0][3]*a[1][0]*a[2][5]*a[4][2]*a[5][4] - a[0][3]*a[1][0]*a[2][5]*a[4][4]*a[5][2] - a[0][3]*a[1][2]*a[2][0]*a[4][4]*a[5][5] + a[0][3]*a[1][2]*a[2][0]*a[4][5]*a[5][4] + a[0][3]*a[1][2]*a[2][4]*a[4][0]*a[5][5] - a[0][3]*a[1][2]*a[2][4]*a[4][5]*a[5][0] - a[0][3]*a[1][2]*a[2][5]*a[4][0]*a[5][4] + a[0][3]*a[1][2]*a[2][5]*a[4][4]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[4][2]*a[5][5] - a[0][3]*a[1][4]*a[2][0]*a[4][5]*a[5][2] - a[0][3]*a[1][4]*a[2][2]*a[4][0]*a[5][5] + a[0][3]*a[1][4]*a[2][2]*a[4][5]*a[5][0] + a[0][3]*a[1][4]*a[2][5]*a[4][0]*a[5][2] - a[0][3]*a[1][4]*a[2][5]*a[4][2]*a[5][0] - a[0][3]*a[1][5]*a[2][0]*a[4][2]*a[5][4] + a[0][3]*a[1][5]*a[2][0]*a[4][4]*a[5][2] + a[0][3]*a[1][5]*a[2][2]*a[4][0]*a[5][4] - a[0][3]*a[1][5]*a[2][2]*a[4][4]*a[5][0] - a[0][3]*a[1][5]*a[2][4]*a[4][0]*a[5][2] + a[0][3]*a[1][5]*a[2][4]*a[4][2]*a[5][0] - a[0][4]*a[1][0]*a[2][2]*a[4][3]*a[5][5] + a[0][4]*a[1][0]*a[2][2]*a[4][5]*a[5][3] + a[0][4]*a[1][0]*a[2][3]*a[4][2]*a[5][5] - a[0][4]*a[1][0]*a[2][3]*a[4][5]*a[5][2] - a[0][4]*a[1][0]*a[2][5]*a[4][2]*a[5][3] + a[0][4]*a[1][0]*a[2][5]*a[4][3]*a[5][2] + a[0][4]*a[1][2]*a[2][0]*a[4][3]*a[5][5] - a[0][4]*a[1][2]*a[2][0]*a[4][5]*a[5][3] - a[0][4]*a[1][2]*a[2][3]*a[4][0]*a[5][5] + a[0][4]*a[1][2]*a[2][3]*a[4][5]*a[5][0] + a[0][4]*a[1][2]*a[2][5]*a[4][0]*a[5][3] - a[0][4]*a[1][2]*a[2][5]*a[4][3]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[4][2]*a[5][5] + a[0][4]*a[1][3]*a[2][0]*a[4][5]*a[5][2] + a[0][4]*a[1][3]*a[2][2]*a[4][0]*a[5][5] - a[0][4]*a[1][3]*a[2][2]*a[4][5]*a[5][0] - a[0][4]*a[1][3]*a[2][5]*a[4][0]*a[5][2] + a[0][4]*a[1][3]*a[2][5]*a[4][2]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[4][2]*a[5][3] - a[0][4]*a[1][5]*a[2][0]*a[4][3]*a[5][2] - a[0][4]*a[1][5]*a[2][2]*a[4][0]*a[5][3] + a[0][4]*a[1][5]*a[2][2]*a[4][3]*a[5][0] + a[0][4]*a[1][5]*a[2][3]*a[4][0]*a[5][2] - a[0][4]*a[1][5]*a[2][3]*a[4][2]*a[5][0] + a[0][5]*a[1][0]*a[2][2]*a[4][3]*a[5][4] - a[0][5]*a[1][0]*a[2][2]*a[4][4]*a[5][3] - a[0][5]*a[1][0]*a[2][3]*a[4][2]*a[5][4] + a[0][5]*a[1][0]*a[2][3]*a[4][4]*a[5][2] + a[0][5]*a[1][0]*a[2][4]*a[4][2]*a[5][3] - a[0][5]*a[1][0]*a[2][4]*a[4][3]*a[5][2] - a[0][5]*a[1][2]*a[2][0]*a[4][3]*a[5][4] + a[0][5]*a[1][2]*a[2][0]*a[4][4]*a[5][3] + a[0][5]*a[1][2]*a[2][3]*a[4][0]*a[5][4] - a[0][5]*a[1][2]*a[2][3]*a[4][4]*a[5][0] - a[0][5]*a[1][2]*a[2][4]*a[4][0]*a[5][3] + a[0][5]*a[1][2]*a[2][4]*a[4][3]*a[5][0] + a[0][5]*a[1][3]*a[2][0]*a[4][2]*a[5][4] - a[0][5]*a[1][3]*a[2][0]*a[4][4]*a[5][2] - a[0][5]*a[1][3]*a[2][2]*a[4][0]*a[5][4] + a[0][5]*a[1][3]*a[2][2]*a[4][4]*a[5][0] + a[0][5]*a[1][3]*a[2][4]*a[4][0]*a[5][2] - a[0][5]*a[1][3]*a[2][4]*a[4][2]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[4][2]*a[5][3] + a[0][5]*a[1][4]*a[2][0]*a[4][3]*a[5][2] + a[0][5]*a[1][4]*a[2][2]*a[4][0]*a[5][3] - a[0][5]*a[1][4]*a[2][2]*a[4][3]*a[5][0] - a[0][5]*a[1][4]*a[2][3]*a[4][0]*a[5][2] + a[0][5]*a[1][4]*a[2][3]*a[4][2]*a[5][0])/denom;
  invA[2][3] = -(a[0][0]*a[1][1]*a[2][3]*a[4][4]*a[5][5] - a[0][0]*a[1][1]*a[2][3]*a[4][5]*a[5][4] - a[0][0]*a[1][1]*a[2][4]*a[4][3]*a[5][5] + a[0][0]*a[1][1]*a[2][4]*a[4][5]*a[5][3] + a[0][0]*a[1][1]*a[2][5]*a[4][3]*a[5][4] - a[0][0]*a[1][1]*a[2][5]*a[4][4]*a[5][3] - a[0][0]*a[1][3]*a[2][1]*a[4][4]*a[5][5] + a[0][0]*a[1][3]*a[2][1]*a[4][5]*a[5][4] + a[0][0]*a[1][3]*a[2][4]*a[4][1]*a[5][5] - a[0][0]*a[1][3]*a[2][4]*a[4][5]*a[5][1] - a[0][0]*a[1][3]*a[2][5]*a[4][1]*a[5][4] + a[0][0]*a[1][3]*a[2][5]*a[4][4]*a[5][1] + a[0][0]*a[1][4]*a[2][1]*a[4][3]*a[5][5] - a[0][0]*a[1][4]*a[2][1]*a[4][5]*a[5][3] - a[0][0]*a[1][4]*a[2][3]*a[4][1]*a[5][5] + a[0][0]*a[1][4]*a[2][3]*a[4][5]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[4][1]*a[5][3] - a[0][0]*a[1][4]*a[2][5]*a[4][3]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[4][3]*a[5][4] + a[0][0]*a[1][5]*a[2][1]*a[4][4]*a[5][3] + a[0][0]*a[1][5]*a[2][3]*a[4][1]*a[5][4] - a[0][0]*a[1][5]*a[2][3]*a[4][4]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[4][1]*a[5][3] + a[0][0]*a[1][5]*a[2][4]*a[4][3]*a[5][1] - a[0][1]*a[1][0]*a[2][3]*a[4][4]*a[5][5] + a[0][1]*a[1][0]*a[2][3]*a[4][5]*a[5][4] + a[0][1]*a[1][0]*a[2][4]*a[4][3]*a[5][5] - a[0][1]*a[1][0]*a[2][4]*a[4][5]*a[5][3] - a[0][1]*a[1][0]*a[2][5]*a[4][3]*a[5][4] + a[0][1]*a[1][0]*a[2][5]*a[4][4]*a[5][3] + a[0][1]*a[1][3]*a[2][0]*a[4][4]*a[5][5] - a[0][1]*a[1][3]*a[2][0]*a[4][5]*a[5][4] - a[0][1]*a[1][3]*a[2][4]*a[4][0]*a[5][5] + a[0][1]*a[1][3]*a[2][4]*a[4][5]*a[5][0] + a[0][1]*a[1][3]*a[2][5]*a[4][0]*a[5][4] - a[0][1]*a[1][3]*a[2][5]*a[4][4]*a[5][0] - a[0][1]*a[1][4]*a[2][0]*a[4][3]*a[5][5] + a[0][1]*a[1][4]*a[2][0]*a[4][5]*a[5][3] + a[0][1]*a[1][4]*a[2][3]*a[4][0]*a[5][5] - a[0][1]*a[1][4]*a[2][3]*a[4][5]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[4][0]*a[5][3] + a[0][1]*a[1][4]*a[2][5]*a[4][3]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[4][3]*a[5][4] - a[0][1]*a[1][5]*a[2][0]*a[4][4]*a[5][3] - a[0][1]*a[1][5]*a[2][3]*a[4][0]*a[5][4] + a[0][1]*a[1][5]*a[2][3]*a[4][4]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[4][0]*a[5][3] - a[0][1]*a[1][5]*a[2][4]*a[4][3]*a[5][0] + a[0][3]*a[1][0]*a[2][1]*a[4][4]*a[5][5] - a[0][3]*a[1][0]*a[2][1]*a[4][5]*a[5][4] - a[0][3]*a[1][0]*a[2][4]*a[4][1]*a[5][5] + a[0][3]*a[1][0]*a[2][4]*a[4][5]*a[5][1] + a[0][3]*a[1][0]*a[2][5]*a[4][1]*a[5][4] - a[0][3]*a[1][0]*a[2][5]*a[4][4]*a[5][1] - a[0][3]*a[1][1]*a[2][0]*a[4][4]*a[5][5] + a[0][3]*a[1][1]*a[2][0]*a[4][5]*a[5][4] + a[0][3]*a[1][1]*a[2][4]*a[4][0]*a[5][5] - a[0][3]*a[1][1]*a[2][4]*a[4][5]*a[5][0] - a[0][3]*a[1][1]*a[2][5]*a[4][0]*a[5][4] + a[0][3]*a[1][1]*a[2][5]*a[4][4]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[4][1]*a[5][5] - a[0][3]*a[1][4]*a[2][0]*a[4][5]*a[5][1] - a[0][3]*a[1][4]*a[2][1]*a[4][0]*a[5][5] + a[0][3]*a[1][4]*a[2][1]*a[4][5]*a[5][0] + a[0][3]*a[1][4]*a[2][5]*a[4][0]*a[5][1] - a[0][3]*a[1][4]*a[2][5]*a[4][1]*a[5][0] - a[0][3]*a[1][5]*a[2][0]*a[4][1]*a[5][4] + a[0][3]*a[1][5]*a[2][0]*a[4][4]*a[5][1] + a[0][3]*a[1][5]*a[2][1]*a[4][0]*a[5][4] - a[0][3]*a[1][5]*a[2][1]*a[4][4]*a[5][0] - a[0][3]*a[1][5]*a[2][4]*a[4][0]*a[5][1] + a[0][3]*a[1][5]*a[2][4]*a[4][1]*a[5][0] - a[0][4]*a[1][0]*a[2][1]*a[4][3]*a[5][5] + a[0][4]*a[1][0]*a[2][1]*a[4][5]*a[5][3] + a[0][4]*a[1][0]*a[2][3]*a[4][1]*a[5][5] - a[0][4]*a[1][0]*a[2][3]*a[4][5]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[4][1]*a[5][3] + a[0][4]*a[1][0]*a[2][5]*a[4][3]*a[5][1] + a[0][4]*a[1][1]*a[2][0]*a[4][3]*a[5][5] - a[0][4]*a[1][1]*a[2][0]*a[4][5]*a[5][3] - a[0][4]*a[1][1]*a[2][3]*a[4][0]*a[5][5] + a[0][4]*a[1][1]*a[2][3]*a[4][5]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[4][0]*a[5][3] - a[0][4]*a[1][1]*a[2][5]*a[4][3]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[4][1]*a[5][5] + a[0][4]*a[1][3]*a[2][0]*a[4][5]*a[5][1] + a[0][4]*a[1][3]*a[2][1]*a[4][0]*a[5][5] - a[0][4]*a[1][3]*a[2][1]*a[4][5]*a[5][0] - a[0][4]*a[1][3]*a[2][5]*a[4][0]*a[5][1] + a[0][4]*a[1][3]*a[2][5]*a[4][1]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[4][1]*a[5][3] - a[0][4]*a[1][5]*a[2][0]*a[4][3]*a[5][1] - a[0][4]*a[1][5]*a[2][1]*a[4][0]*a[5][3] + a[0][4]*a[1][5]*a[2][1]*a[4][3]*a[5][0] + a[0][4]*a[1][5]*a[2][3]*a[4][0]*a[5][1] - a[0][4]*a[1][5]*a[2][3]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[4][3]*a[5][4] - a[0][5]*a[1][0]*a[2][1]*a[4][4]*a[5][3] - a[0][5]*a[1][0]*a[2][3]*a[4][1]*a[5][4] + a[0][5]*a[1][0]*a[2][3]*a[4][4]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[4][1]*a[5][3] - a[0][5]*a[1][0]*a[2][4]*a[4][3]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[4][3]*a[5][4] + a[0][5]*a[1][1]*a[2][0]*a[4][4]*a[5][3] + a[0][5]*a[1][1]*a[2][3]*a[4][0]*a[5][4] - a[0][5]*a[1][1]*a[2][3]*a[4][4]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[4][0]*a[5][3] + a[0][5]*a[1][1]*a[2][4]*a[4][3]*a[5][0] + a[0][5]*a[1][3]*a[2][0]*a[4][1]*a[5][4] - a[0][5]*a[1][3]*a[2][0]*a[4][4]*a[5][1] - a[0][5]*a[1][3]*a[2][1]*a[4][0]*a[5][4] + a[0][5]*a[1][3]*a[2][1]*a[4][4]*a[5][0] + a[0][5]*a[1][3]*a[2][4]*a[4][0]*a[5][1] - a[0][5]*a[1][3]*a[2][4]*a[4][1]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[4][1]*a[5][3] + a[0][5]*a[1][4]*a[2][0]*a[4][3]*a[5][1] + a[0][5]*a[1][4]*a[2][1]*a[4][0]*a[5][3] - a[0][5]*a[1][4]*a[2][1]*a[4][3]*a[5][0] - a[0][5]*a[1][4]*a[2][3]*a[4][0]*a[5][1] + a[0][5]*a[1][4]*a[2][3]*a[4][1]*a[5][0])/denom;
  invA[3][3] =  (a[0][0]*a[1][1]*a[2][2]*a[4][4]*a[5][5] - a[0][0]*a[1][1]*a[2][2]*a[4][5]*a[5][4] - a[0][0]*a[1][1]*a[2][4]*a[4][2]*a[5][5] + a[0][0]*a[1][1]*a[2][4]*a[4][5]*a[5][2] + a[0][0]*a[1][1]*a[2][5]*a[4][2]*a[5][4] - a[0][0]*a[1][1]*a[2][5]*a[4][4]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[4][4]*a[5][5] + a[0][0]*a[1][2]*a[2][1]*a[4][5]*a[5][4] + a[0][0]*a[1][2]*a[2][4]*a[4][1]*a[5][5] - a[0][0]*a[1][2]*a[2][4]*a[4][5]*a[5][1] - a[0][0]*a[1][2]*a[2][5]*a[4][1]*a[5][4] + a[0][0]*a[1][2]*a[2][5]*a[4][4]*a[5][1] + a[0][0]*a[1][4]*a[2][1]*a[4][2]*a[5][5] - a[0][0]*a[1][4]*a[2][1]*a[4][5]*a[5][2] - a[0][0]*a[1][4]*a[2][2]*a[4][1]*a[5][5] + a[0][0]*a[1][4]*a[2][2]*a[4][5]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[4][1]*a[5][2] - a[0][0]*a[1][4]*a[2][5]*a[4][2]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[4][2]*a[5][4] + a[0][0]*a[1][5]*a[2][1]*a[4][4]*a[5][2] + a[0][0]*a[1][5]*a[2][2]*a[4][1]*a[5][4] - a[0][0]*a[1][5]*a[2][2]*a[4][4]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[4][1]*a[5][2] + a[0][0]*a[1][5]*a[2][4]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[4][4]*a[5][5] + a[0][1]*a[1][0]*a[2][2]*a[4][5]*a[5][4] + a[0][1]*a[1][0]*a[2][4]*a[4][2]*a[5][5] - a[0][1]*a[1][0]*a[2][4]*a[4][5]*a[5][2] - a[0][1]*a[1][0]*a[2][5]*a[4][2]*a[5][4] + a[0][1]*a[1][0]*a[2][5]*a[4][4]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[4][4]*a[5][5] - a[0][1]*a[1][2]*a[2][0]*a[4][5]*a[5][4] - a[0][1]*a[1][2]*a[2][4]*a[4][0]*a[5][5] + a[0][1]*a[1][2]*a[2][4]*a[4][5]*a[5][0] + a[0][1]*a[1][2]*a[2][5]*a[4][0]*a[5][4] - a[0][1]*a[1][2]*a[2][5]*a[4][4]*a[5][0] - a[0][1]*a[1][4]*a[2][0]*a[4][2]*a[5][5] + a[0][1]*a[1][4]*a[2][0]*a[4][5]*a[5][2] + a[0][1]*a[1][4]*a[2][2]*a[4][0]*a[5][5] - a[0][1]*a[1][4]*a[2][2]*a[4][5]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[4][0]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[4][2]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[4][2]*a[5][4] - a[0][1]*a[1][5]*a[2][0]*a[4][4]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[4][0]*a[5][4] + a[0][1]*a[1][5]*a[2][2]*a[4][4]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[4][0]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[4][4]*a[5][5] - a[0][2]*a[1][0]*a[2][1]*a[4][5]*a[5][4] - a[0][2]*a[1][0]*a[2][4]*a[4][1]*a[5][5] + a[0][2]*a[1][0]*a[2][4]*a[4][5]*a[5][1] + a[0][2]*a[1][0]*a[2][5]*a[4][1]*a[5][4] - a[0][2]*a[1][0]*a[2][5]*a[4][4]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[4][4]*a[5][5] + a[0][2]*a[1][1]*a[2][0]*a[4][5]*a[5][4] + a[0][2]*a[1][1]*a[2][4]*a[4][0]*a[5][5] - a[0][2]*a[1][1]*a[2][4]*a[4][5]*a[5][0] - a[0][2]*a[1][1]*a[2][5]*a[4][0]*a[5][4] + a[0][2]*a[1][1]*a[2][5]*a[4][4]*a[5][0] + a[0][2]*a[1][4]*a[2][0]*a[4][1]*a[5][5] - a[0][2]*a[1][4]*a[2][0]*a[4][5]*a[5][1] - a[0][2]*a[1][4]*a[2][1]*a[4][0]*a[5][5] + a[0][2]*a[1][4]*a[2][1]*a[4][5]*a[5][0] + a[0][2]*a[1][4]*a[2][5]*a[4][0]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[4][1]*a[5][0] - a[0][2]*a[1][5]*a[2][0]*a[4][1]*a[5][4] + a[0][2]*a[1][5]*a[2][0]*a[4][4]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[4][0]*a[5][4] - a[0][2]*a[1][5]*a[2][1]*a[4][4]*a[5][0] - a[0][2]*a[1][5]*a[2][4]*a[4][0]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[4][1]*a[5][0] - a[0][4]*a[1][0]*a[2][1]*a[4][2]*a[5][5] + a[0][4]*a[1][0]*a[2][1]*a[4][5]*a[5][2] + a[0][4]*a[1][0]*a[2][2]*a[4][1]*a[5][5] - a[0][4]*a[1][0]*a[2][2]*a[4][5]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[4][1]*a[5][2] + a[0][4]*a[1][0]*a[2][5]*a[4][2]*a[5][1] + a[0][4]*a[1][1]*a[2][0]*a[4][2]*a[5][5] - a[0][4]*a[1][1]*a[2][0]*a[4][5]*a[5][2] - a[0][4]*a[1][1]*a[2][2]*a[4][0]*a[5][5] + a[0][4]*a[1][1]*a[2][2]*a[4][5]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[4][0]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[4][2]*a[5][0] - a[0][4]*a[1][2]*a[2][0]*a[4][1]*a[5][5] + a[0][4]*a[1][2]*a[2][0]*a[4][5]*a[5][1] + a[0][4]*a[1][2]*a[2][1]*a[4][0]*a[5][5] - a[0][4]*a[1][2]*a[2][1]*a[4][5]*a[5][0] - a[0][4]*a[1][2]*a[2][5]*a[4][0]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[4][1]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[4][1]*a[5][2] - a[0][4]*a[1][5]*a[2][0]*a[4][2]*a[5][1] - a[0][4]*a[1][5]*a[2][1]*a[4][0]*a[5][2] + a[0][4]*a[1][5]*a[2][1]*a[4][2]*a[5][0] + a[0][4]*a[1][5]*a[2][2]*a[4][0]*a[5][1] - a[0][4]*a[1][5]*a[2][2]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[4][2]*a[5][4] - a[0][5]*a[1][0]*a[2][1]*a[4][4]*a[5][2] - a[0][5]*a[1][0]*a[2][2]*a[4][1]*a[5][4] + a[0][5]*a[1][0]*a[2][2]*a[4][4]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[4][1]*a[5][2] - a[0][5]*a[1][0]*a[2][4]*a[4][2]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[4][2]*a[5][4] + a[0][5]*a[1][1]*a[2][0]*a[4][4]*a[5][2] + a[0][5]*a[1][1]*a[2][2]*a[4][0]*a[5][4] - a[0][5]*a[1][1]*a[2][2]*a[4][4]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[4][0]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[4][2]*a[5][0] + a[0][5]*a[1][2]*a[2][0]*a[4][1]*a[5][4] - a[0][5]*a[1][2]*a[2][0]*a[4][4]*a[5][1] - a[0][5]*a[1][2]*a[2][1]*a[4][0]*a[5][4] + a[0][5]*a[1][2]*a[2][1]*a[4][4]*a[5][0] + a[0][5]*a[1][2]*a[2][4]*a[4][0]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[4][1]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[4][1]*a[5][2] + a[0][5]*a[1][4]*a[2][0]*a[4][2]*a[5][1] + a[0][5]*a[1][4]*a[2][1]*a[4][0]*a[5][2] - a[0][5]*a[1][4]*a[2][1]*a[4][2]*a[5][0] - a[0][5]*a[1][4]*a[2][2]*a[4][0]*a[5][1] + a[0][5]*a[1][4]*a[2][2]*a[4][1]*a[5][0])/denom;
  invA[4][3] = -(a[0][0]*a[1][1]*a[2][2]*a[4][3]*a[5][5] - a[0][0]*a[1][1]*a[2][2]*a[4][5]*a[5][3] - a[0][0]*a[1][1]*a[2][3]*a[4][2]*a[5][5] + a[0][0]*a[1][1]*a[2][3]*a[4][5]*a[5][2] + a[0][0]*a[1][1]*a[2][5]*a[4][2]*a[5][3] - a[0][0]*a[1][1]*a[2][5]*a[4][3]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[4][3]*a[5][5] + a[0][0]*a[1][2]*a[2][1]*a[4][5]*a[5][3] + a[0][0]*a[1][2]*a[2][3]*a[4][1]*a[5][5] - a[0][0]*a[1][2]*a[2][3]*a[4][5]*a[5][1] - a[0][0]*a[1][2]*a[2][5]*a[4][1]*a[5][3] + a[0][0]*a[1][2]*a[2][5]*a[4][3]*a[5][1] + a[0][0]*a[1][3]*a[2][1]*a[4][2]*a[5][5] - a[0][0]*a[1][3]*a[2][1]*a[4][5]*a[5][2] - a[0][0]*a[1][3]*a[2][2]*a[4][1]*a[5][5] + a[0][0]*a[1][3]*a[2][2]*a[4][5]*a[5][1] + a[0][0]*a[1][3]*a[2][5]*a[4][1]*a[5][2] - a[0][0]*a[1][3]*a[2][5]*a[4][2]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[4][2]*a[5][3] + a[0][0]*a[1][5]*a[2][1]*a[4][3]*a[5][2] + a[0][0]*a[1][5]*a[2][2]*a[4][1]*a[5][3] - a[0][0]*a[1][5]*a[2][2]*a[4][3]*a[5][1] - a[0][0]*a[1][5]*a[2][3]*a[4][1]*a[5][2] + a[0][0]*a[1][5]*a[2][3]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[4][3]*a[5][5] + a[0][1]*a[1][0]*a[2][2]*a[4][5]*a[5][3] + a[0][1]*a[1][0]*a[2][3]*a[4][2]*a[5][5] - a[0][1]*a[1][0]*a[2][3]*a[4][5]*a[5][2] - a[0][1]*a[1][0]*a[2][5]*a[4][2]*a[5][3] + a[0][1]*a[1][0]*a[2][5]*a[4][3]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[4][3]*a[5][5] - a[0][1]*a[1][2]*a[2][0]*a[4][5]*a[5][3] - a[0][1]*a[1][2]*a[2][3]*a[4][0]*a[5][5] + a[0][1]*a[1][2]*a[2][3]*a[4][5]*a[5][0] + a[0][1]*a[1][2]*a[2][5]*a[4][0]*a[5][3] - a[0][1]*a[1][2]*a[2][5]*a[4][3]*a[5][0] - a[0][1]*a[1][3]*a[2][0]*a[4][2]*a[5][5] + a[0][1]*a[1][3]*a[2][0]*a[4][5]*a[5][2] + a[0][1]*a[1][3]*a[2][2]*a[4][0]*a[5][5] - a[0][1]*a[1][3]*a[2][2]*a[4][5]*a[5][0] - a[0][1]*a[1][3]*a[2][5]*a[4][0]*a[5][2] + a[0][1]*a[1][3]*a[2][5]*a[4][2]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[4][2]*a[5][3] - a[0][1]*a[1][5]*a[2][0]*a[4][3]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[4][0]*a[5][3] + a[0][1]*a[1][5]*a[2][2]*a[4][3]*a[5][0] + a[0][1]*a[1][5]*a[2][3]*a[4][0]*a[5][2] - a[0][1]*a[1][5]*a[2][3]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[4][3]*a[5][5] - a[0][2]*a[1][0]*a[2][1]*a[4][5]*a[5][3] - a[0][2]*a[1][0]*a[2][3]*a[4][1]*a[5][5] + a[0][2]*a[1][0]*a[2][3]*a[4][5]*a[5][1] + a[0][2]*a[1][0]*a[2][5]*a[4][1]*a[5][3] - a[0][2]*a[1][0]*a[2][5]*a[4][3]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[4][3]*a[5][5] + a[0][2]*a[1][1]*a[2][0]*a[4][5]*a[5][3] + a[0][2]*a[1][1]*a[2][3]*a[4][0]*a[5][5] - a[0][2]*a[1][1]*a[2][3]*a[4][5]*a[5][0] - a[0][2]*a[1][1]*a[2][5]*a[4][0]*a[5][3] + a[0][2]*a[1][1]*a[2][5]*a[4][3]*a[5][0] + a[0][2]*a[1][3]*a[2][0]*a[4][1]*a[5][5] - a[0][2]*a[1][3]*a[2][0]*a[4][5]*a[5][1] - a[0][2]*a[1][3]*a[2][1]*a[4][0]*a[5][5] + a[0][2]*a[1][3]*a[2][1]*a[4][5]*a[5][0] + a[0][2]*a[1][3]*a[2][5]*a[4][0]*a[5][1] - a[0][2]*a[1][3]*a[2][5]*a[4][1]*a[5][0] - a[0][2]*a[1][5]*a[2][0]*a[4][1]*a[5][3] + a[0][2]*a[1][5]*a[2][0]*a[4][3]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[4][0]*a[5][3] - a[0][2]*a[1][5]*a[2][1]*a[4][3]*a[5][0] - a[0][2]*a[1][5]*a[2][3]*a[4][0]*a[5][1] + a[0][2]*a[1][5]*a[2][3]*a[4][1]*a[5][0] - a[0][3]*a[1][0]*a[2][1]*a[4][2]*a[5][5] + a[0][3]*a[1][0]*a[2][1]*a[4][5]*a[5][2] + a[0][3]*a[1][0]*a[2][2]*a[4][1]*a[5][5] - a[0][3]*a[1][0]*a[2][2]*a[4][5]*a[5][1] - a[0][3]*a[1][0]*a[2][5]*a[4][1]*a[5][2] + a[0][3]*a[1][0]*a[2][5]*a[4][2]*a[5][1] + a[0][3]*a[1][1]*a[2][0]*a[4][2]*a[5][5] - a[0][3]*a[1][1]*a[2][0]*a[4][5]*a[5][2] - a[0][3]*a[1][1]*a[2][2]*a[4][0]*a[5][5] + a[0][3]*a[1][1]*a[2][2]*a[4][5]*a[5][0] + a[0][3]*a[1][1]*a[2][5]*a[4][0]*a[5][2] - a[0][3]*a[1][1]*a[2][5]*a[4][2]*a[5][0] - a[0][3]*a[1][2]*a[2][0]*a[4][1]*a[5][5] + a[0][3]*a[1][2]*a[2][0]*a[4][5]*a[5][1] + a[0][3]*a[1][2]*a[2][1]*a[4][0]*a[5][5] - a[0][3]*a[1][2]*a[2][1]*a[4][5]*a[5][0] - a[0][3]*a[1][2]*a[2][5]*a[4][0]*a[5][1] + a[0][3]*a[1][2]*a[2][5]*a[4][1]*a[5][0] + a[0][3]*a[1][5]*a[2][0]*a[4][1]*a[5][2] - a[0][3]*a[1][5]*a[2][0]*a[4][2]*a[5][1] - a[0][3]*a[1][5]*a[2][1]*a[4][0]*a[5][2] + a[0][3]*a[1][5]*a[2][1]*a[4][2]*a[5][0] + a[0][3]*a[1][5]*a[2][2]*a[4][0]*a[5][1] - a[0][3]*a[1][5]*a[2][2]*a[4][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[4][2]*a[5][3] - a[0][5]*a[1][0]*a[2][1]*a[4][3]*a[5][2] - a[0][5]*a[1][0]*a[2][2]*a[4][1]*a[5][3] + a[0][5]*a[1][0]*a[2][2]*a[4][3]*a[5][1] + a[0][5]*a[1][0]*a[2][3]*a[4][1]*a[5][2] - a[0][5]*a[1][0]*a[2][3]*a[4][2]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[4][2]*a[5][3] + a[0][5]*a[1][1]*a[2][0]*a[4][3]*a[5][2] + a[0][5]*a[1][1]*a[2][2]*a[4][0]*a[5][3] - a[0][5]*a[1][1]*a[2][2]*a[4][3]*a[5][0] - a[0][5]*a[1][1]*a[2][3]*a[4][0]*a[5][2] + a[0][5]*a[1][1]*a[2][3]*a[4][2]*a[5][0] + a[0][5]*a[1][2]*a[2][0]*a[4][1]*a[5][3] - a[0][5]*a[1][2]*a[2][0]*a[4][3]*a[5][1] - a[0][5]*a[1][2]*a[2][1]*a[4][0]*a[5][3] + a[0][5]*a[1][2]*a[2][1]*a[4][3]*a[5][0] + a[0][5]*a[1][2]*a[2][3]*a[4][0]*a[5][1] - a[0][5]*a[1][2]*a[2][3]*a[4][1]*a[5][0] - a[0][5]*a[1][3]*a[2][0]*a[4][1]*a[5][2] + a[0][5]*a[1][3]*a[2][0]*a[4][2]*a[5][1] + a[0][5]*a[1][3]*a[2][1]*a[4][0]*a[5][2] - a[0][5]*a[1][3]*a[2][1]*a[4][2]*a[5][0] - a[0][5]*a[1][3]*a[2][2]*a[4][0]*a[5][1] + a[0][5]*a[1][3]*a[2][2]*a[4][1]*a[5][0])/denom;
  invA[5][3] =  (a[0][0]*a[1][1]*a[2][2]*a[4][3]*a[5][4] - a[0][0]*a[1][1]*a[2][2]*a[4][4]*a[5][3] - a[0][0]*a[1][1]*a[2][3]*a[4][2]*a[5][4] + a[0][0]*a[1][1]*a[2][3]*a[4][4]*a[5][2] + a[0][0]*a[1][1]*a[2][4]*a[4][2]*a[5][3] - a[0][0]*a[1][1]*a[2][4]*a[4][3]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[4][3]*a[5][4] + a[0][0]*a[1][2]*a[2][1]*a[4][4]*a[5][3] + a[0][0]*a[1][2]*a[2][3]*a[4][1]*a[5][4] - a[0][0]*a[1][2]*a[2][3]*a[4][4]*a[5][1] - a[0][0]*a[1][2]*a[2][4]*a[4][1]*a[5][3] + a[0][0]*a[1][2]*a[2][4]*a[4][3]*a[5][1] + a[0][0]*a[1][3]*a[2][1]*a[4][2]*a[5][4] - a[0][0]*a[1][3]*a[2][1]*a[4][4]*a[5][2] - a[0][0]*a[1][3]*a[2][2]*a[4][1]*a[5][4] + a[0][0]*a[1][3]*a[2][2]*a[4][4]*a[5][1] + a[0][0]*a[1][3]*a[2][4]*a[4][1]*a[5][2] - a[0][0]*a[1][3]*a[2][4]*a[4][2]*a[5][1] - a[0][0]*a[1][4]*a[2][1]*a[4][2]*a[5][3] + a[0][0]*a[1][4]*a[2][1]*a[4][3]*a[5][2] + a[0][0]*a[1][4]*a[2][2]*a[4][1]*a[5][3] - a[0][0]*a[1][4]*a[2][2]*a[4][3]*a[5][1] - a[0][0]*a[1][4]*a[2][3]*a[4][1]*a[5][2] + a[0][0]*a[1][4]*a[2][3]*a[4][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[4][3]*a[5][4] + a[0][1]*a[1][0]*a[2][2]*a[4][4]*a[5][3] + a[0][1]*a[1][0]*a[2][3]*a[4][2]*a[5][4] - a[0][1]*a[1][0]*a[2][3]*a[4][4]*a[5][2] - a[0][1]*a[1][0]*a[2][4]*a[4][2]*a[5][3] + a[0][1]*a[1][0]*a[2][4]*a[4][3]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[4][3]*a[5][4] - a[0][1]*a[1][2]*a[2][0]*a[4][4]*a[5][3] - a[0][1]*a[1][2]*a[2][3]*a[4][0]*a[5][4] + a[0][1]*a[1][2]*a[2][3]*a[4][4]*a[5][0] + a[0][1]*a[1][2]*a[2][4]*a[4][0]*a[5][3] - a[0][1]*a[1][2]*a[2][4]*a[4][3]*a[5][0] - a[0][1]*a[1][3]*a[2][0]*a[4][2]*a[5][4] + a[0][1]*a[1][3]*a[2][0]*a[4][4]*a[5][2] + a[0][1]*a[1][3]*a[2][2]*a[4][0]*a[5][4] - a[0][1]*a[1][3]*a[2][2]*a[4][4]*a[5][0] - a[0][1]*a[1][3]*a[2][4]*a[4][0]*a[5][2] + a[0][1]*a[1][3]*a[2][4]*a[4][2]*a[5][0] + a[0][1]*a[1][4]*a[2][0]*a[4][2]*a[5][3] - a[0][1]*a[1][4]*a[2][0]*a[4][3]*a[5][2] - a[0][1]*a[1][4]*a[2][2]*a[4][0]*a[5][3] + a[0][1]*a[1][4]*a[2][2]*a[4][3]*a[5][0] + a[0][1]*a[1][4]*a[2][3]*a[4][0]*a[5][2] - a[0][1]*a[1][4]*a[2][3]*a[4][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[4][3]*a[5][4] - a[0][2]*a[1][0]*a[2][1]*a[4][4]*a[5][3] - a[0][2]*a[1][0]*a[2][3]*a[4][1]*a[5][4] + a[0][2]*a[1][0]*a[2][3]*a[4][4]*a[5][1] + a[0][2]*a[1][0]*a[2][4]*a[4][1]*a[5][3] - a[0][2]*a[1][0]*a[2][4]*a[4][3]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[4][3]*a[5][4] + a[0][2]*a[1][1]*a[2][0]*a[4][4]*a[5][3] + a[0][2]*a[1][1]*a[2][3]*a[4][0]*a[5][4] - a[0][2]*a[1][1]*a[2][3]*a[4][4]*a[5][0] - a[0][2]*a[1][1]*a[2][4]*a[4][0]*a[5][3] + a[0][2]*a[1][1]*a[2][4]*a[4][3]*a[5][0] + a[0][2]*a[1][3]*a[2][0]*a[4][1]*a[5][4] - a[0][2]*a[1][3]*a[2][0]*a[4][4]*a[5][1] - a[0][2]*a[1][3]*a[2][1]*a[4][0]*a[5][4] + a[0][2]*a[1][3]*a[2][1]*a[4][4]*a[5][0] + a[0][2]*a[1][3]*a[2][4]*a[4][0]*a[5][1] - a[0][2]*a[1][3]*a[2][4]*a[4][1]*a[5][0] - a[0][2]*a[1][4]*a[2][0]*a[4][1]*a[5][3] + a[0][2]*a[1][4]*a[2][0]*a[4][3]*a[5][1] + a[0][2]*a[1][4]*a[2][1]*a[4][0]*a[5][3] - a[0][2]*a[1][4]*a[2][1]*a[4][3]*a[5][0] - a[0][2]*a[1][4]*a[2][3]*a[4][0]*a[5][1] + a[0][2]*a[1][4]*a[2][3]*a[4][1]*a[5][0] - a[0][3]*a[1][0]*a[2][1]*a[4][2]*a[5][4] + a[0][3]*a[1][0]*a[2][1]*a[4][4]*a[5][2] + a[0][3]*a[1][0]*a[2][2]*a[4][1]*a[5][4] - a[0][3]*a[1][0]*a[2][2]*a[4][4]*a[5][1] - a[0][3]*a[1][0]*a[2][4]*a[4][1]*a[5][2] + a[0][3]*a[1][0]*a[2][4]*a[4][2]*a[5][1] + a[0][3]*a[1][1]*a[2][0]*a[4][2]*a[5][4] - a[0][3]*a[1][1]*a[2][0]*a[4][4]*a[5][2] - a[0][3]*a[1][1]*a[2][2]*a[4][0]*a[5][4] + a[0][3]*a[1][1]*a[2][2]*a[4][4]*a[5][0] + a[0][3]*a[1][1]*a[2][4]*a[4][0]*a[5][2] - a[0][3]*a[1][1]*a[2][4]*a[4][2]*a[5][0] - a[0][3]*a[1][2]*a[2][0]*a[4][1]*a[5][4] + a[0][3]*a[1][2]*a[2][0]*a[4][4]*a[5][1] + a[0][3]*a[1][2]*a[2][1]*a[4][0]*a[5][4] - a[0][3]*a[1][2]*a[2][1]*a[4][4]*a[5][0] - a[0][3]*a[1][2]*a[2][4]*a[4][0]*a[5][1] + a[0][3]*a[1][2]*a[2][4]*a[4][1]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[4][1]*a[5][2] - a[0][3]*a[1][4]*a[2][0]*a[4][2]*a[5][1] - a[0][3]*a[1][4]*a[2][1]*a[4][0]*a[5][2] + a[0][3]*a[1][4]*a[2][1]*a[4][2]*a[5][0] + a[0][3]*a[1][4]*a[2][2]*a[4][0]*a[5][1] - a[0][3]*a[1][4]*a[2][2]*a[4][1]*a[5][0] + a[0][4]*a[1][0]*a[2][1]*a[4][2]*a[5][3] - a[0][4]*a[1][0]*a[2][1]*a[4][3]*a[5][2] - a[0][4]*a[1][0]*a[2][2]*a[4][1]*a[5][3] + a[0][4]*a[1][0]*a[2][2]*a[4][3]*a[5][1] + a[0][4]*a[1][0]*a[2][3]*a[4][1]*a[5][2] - a[0][4]*a[1][0]*a[2][3]*a[4][2]*a[5][1] - a[0][4]*a[1][1]*a[2][0]*a[4][2]*a[5][3] + a[0][4]*a[1][1]*a[2][0]*a[4][3]*a[5][2] + a[0][4]*a[1][1]*a[2][2]*a[4][0]*a[5][3] - a[0][4]*a[1][1]*a[2][2]*a[4][3]*a[5][0] - a[0][4]*a[1][1]*a[2][3]*a[4][0]*a[5][2] + a[0][4]*a[1][1]*a[2][3]*a[4][2]*a[5][0] + a[0][4]*a[1][2]*a[2][0]*a[4][1]*a[5][3] - a[0][4]*a[1][2]*a[2][0]*a[4][3]*a[5][1] - a[0][4]*a[1][2]*a[2][1]*a[4][0]*a[5][3] + a[0][4]*a[1][2]*a[2][1]*a[4][3]*a[5][0] + a[0][4]*a[1][2]*a[2][3]*a[4][0]*a[5][1] - a[0][4]*a[1][2]*a[2][3]*a[4][1]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[4][1]*a[5][2] + a[0][4]*a[1][3]*a[2][0]*a[4][2]*a[5][1] + a[0][4]*a[1][3]*a[2][1]*a[4][0]*a[5][2] - a[0][4]*a[1][3]*a[2][1]*a[4][2]*a[5][0] - a[0][4]*a[1][3]*a[2][2]*a[4][0]*a[5][1] + a[0][4]*a[1][3]*a[2][2]*a[4][1]*a[5][0])/denom;

  invA[0][4] =  (a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[5][5] - a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[5][4] - a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[5][5] + a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[5][3] + a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[5][4] - a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[5][3] - a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[5][5] + a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[5][4] + a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[5][5] - a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[5][2] - a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[5][4] + a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[5][2] + a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[5][5] - a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[5][3] - a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[5][5] + a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[5][3] - a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[5][4] + a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[5][3] + a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[5][4] - a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[5][3] + a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[5][2] - a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[5][5] + a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[5][4] + a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[5][5] - a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[5][3] - a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[5][4] + a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[5][3] + a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[5][5] - a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[5][4] - a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[5][5] + a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[5][1] + a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[5][4] - a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[5][1] - a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[5][5] + a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[5][3] + a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[5][5] - a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[5][3] + a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[5][4] - a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[5][3] - a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[5][4] + a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[5][3] - a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[5][1] + a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[5][5] - a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[5][4] - a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[5][5] + a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[5][2] + a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[5][4] - a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[5][2] - a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[5][5] + a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[5][4] + a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[5][5] - a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[5][1] - a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[5][4] + a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[5][1] + a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[5][5] - a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[5][2] - a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[5][5] + a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[5][1] + a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[5][2] - a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[5][1] - a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[5][4] + a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[5][2] + a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[5][4] - a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[5][1] - a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[5][2] + a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[5][1] - a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[5][5] + a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[5][3] + a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[5][5] - a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[5][3] + a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[5][2] + a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[5][5] - a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[5][3] - a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[5][5] + a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[5][3] - a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[5][1] - a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[5][5] + a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[5][2] + a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[5][5] - a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[5][1] - a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[5][2] + a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[5][1] + a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[5][3] - a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[5][2] - a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[5][3] + a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[5][1] + a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[5][2] - a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[5][1] + a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[5][4] - a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[5][3] - a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[5][4] + a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[5][3] - a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[5][2] - a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[5][4] + a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[5][3] + a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[5][4] - a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[5][3] + a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[5][1] + a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[5][4] - a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[5][2] - a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[5][4] + a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[5][1] + a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[5][2] - a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[5][1] - a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[5][3] + a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[5][2] + a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[5][3] - a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[5][1] - a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[5][2] + a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[5][1])/denom;
  invA[1][4] = -(a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[5][5] - a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[5][4] - a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[5][5] + a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[5][3] + a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[5][4] - a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[5][3] - a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[5][5] + a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[5][4] + a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[5][5] - a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[5][2] - a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[5][4] + a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[5][2] + a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[5][5] - a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[5][3] - a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[5][5] + a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[5][2] + a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[5][3] - a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[5][2] - a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[5][4] + a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[5][3] + a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[5][4] - a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[5][2] - a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[5][3] + a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[5][2] - a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[5][5] + a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[5][4] + a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[5][5] - a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[5][3] - a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[5][4] + a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[5][3] + a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[5][5] - a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[5][4] - a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[5][5] + a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[5][0] + a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[5][4] - a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[5][0] - a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[5][5] + a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[5][3] + a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[5][5] - a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[5][0] - a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[5][3] + a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[5][0] + a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[5][4] - a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[5][3] - a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[5][4] + a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[5][0] + a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[5][3] - a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[5][0] + a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[5][5] - a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[5][4] - a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[5][5] + a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[5][2] + a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[5][4] - a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[5][2] - a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[5][5] + a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[5][4] + a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[5][5] - a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[5][0] - a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[5][4] + a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[5][5] - a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[5][2] - a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[5][5] + a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[5][0] + a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[5][2] - a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[5][0] - a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[5][4] + a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[5][2] + a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[5][4] - a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[5][0] - a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[5][2] + a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[5][0] - a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[5][5] + a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[5][3] + a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[5][5] - a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[5][2] - a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[5][3] + a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[5][2] + a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[5][5] - a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[5][3] - a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[5][5] + a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[5][0] + a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[5][3] - a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[5][5] + a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[5][2] + a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[5][5] - a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[5][0] - a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[5][2] + a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[5][3] - a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[5][2] - a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[5][3] + a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[5][0] + a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[5][2] - a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[5][0] + a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[5][4] - a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[5][3] - a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[5][4] + a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[5][2] + a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[5][3] - a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[5][2] - a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[5][4] + a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[5][3] + a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[5][4] - a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[5][0] - a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[5][3] + a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[5][0] + a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[5][4] - a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[5][2] - a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[5][4] + a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[5][0] + a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[5][2] - a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[5][3] + a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[5][2] + a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[5][3] - a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[5][0] - a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[5][2] + a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[5][0])/denom;
  invA[2][4] =  (a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[5][5] - a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[5][4] - a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[5][5] + a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[5][3] + a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[5][4] - a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[5][3] - a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[5][5] + a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[5][4] + a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[5][5] - a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[5][1] - a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[5][4] + a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[5][1] + a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[5][5] - a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[5][3] - a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[5][5] + a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[5][3] - a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[5][4] + a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[5][3] + a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[5][4] - a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[5][3] + a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[5][1] - a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[5][5] + a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[5][4] + a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[5][5] - a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[5][3] - a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[5][4] + a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[5][3] + a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[5][5] - a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[5][4] - a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[5][5] + a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[5][0] + a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[5][4] - a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[5][0] - a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[5][5] + a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[5][3] + a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[5][5] - a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[5][3] + a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[5][4] - a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[5][3] - a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[5][4] + a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[5][3] - a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[5][0] + a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[5][5] - a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[5][4] - a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[5][5] + a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[5][1] + a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[5][4] - a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[5][1] - a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[5][5] + a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[5][4] + a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[5][5] - a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[5][0] - a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[5][4] + a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[5][5] - a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[5][1] - a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[5][5] + a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[5][0] + a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[5][1] - a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[5][0] - a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[5][4] + a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[5][1] + a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[5][4] - a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[5][0] - a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[5][1] + a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[5][0] - a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[5][5] + a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[5][3] + a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[5][5] - a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[5][3] + a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[5][1] + a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[5][5] - a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[5][3] - a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[5][5] + a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[5][3] - a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[5][5] + a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[5][1] + a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[5][5] - a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[5][0] - a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[5][1] + a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[5][3] - a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[5][1] - a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[5][3] + a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[5][0] + a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[5][1] - a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[5][4] - a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[5][3] - a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[5][4] + a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[5][3] - a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[5][4] + a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[5][3] + a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[5][4] - a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[5][3] + a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[5][0] + a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[5][4] - a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[5][1] - a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[5][4] + a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[5][0] + a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[5][1] - a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[5][3] + a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[5][1] + a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[5][3] - a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[5][0] - a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[5][1] + a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[5][0])/denom;
  invA[3][4] = -(a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[5][5] - a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[5][4] - a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[5][5] + a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[5][2] + a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[5][4] - a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[5][5] + a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[5][4] + a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[5][5] - a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[5][1] - a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[5][4] + a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[5][1] + a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[5][5] - a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[5][2] - a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[5][5] + a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[5][1] + a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[5][2] - a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[5][4] + a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[5][2] + a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[5][4] - a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[5][1] - a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[5][2] + a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[5][5] + a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[5][4] + a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[5][5] - a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[5][2] - a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[5][4] + a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[5][5] - a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[5][4] - a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[5][5] + a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[5][0] + a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[5][4] - a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[5][0] - a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[5][5] + a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[5][2] + a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[5][5] - a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[5][0] - a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[5][2] + a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[5][4] - a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[5][4] + a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[5][0] + a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[5][2] - a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[5][5] - a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[5][4] - a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[5][5] + a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[5][1] + a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[5][4] - a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[5][5] + a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[5][4] + a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[5][5] - a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[5][0] - a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[5][4] + a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[5][0] + a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[5][5] - a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[5][1] - a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[5][5] + a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[5][0] + a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[5][1] - a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[5][0] - a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[5][4] + a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[5][4] - a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[5][0] - a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[5][1] + a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[5][0] - a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[5][5] + a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[5][2] + a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[5][5] - a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[5][1] - a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[5][2] + a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[5][1] + a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[5][5] - a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[5][2] - a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[5][5] + a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[5][0] + a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[5][2] - a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[5][0] - a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[5][5] + a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[5][1] + a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[5][5] - a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[5][0] - a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[5][1] + a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[5][0] + a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[5][2] - a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[5][1] - a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[5][2] + a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[5][0] + a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[5][1] - a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[5][4] - a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[5][2] - a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[5][4] + a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[5][1] + a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[5][2] - a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[5][4] + a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[5][2] + a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[5][4] - a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[5][0] - a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[5][2] + a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[5][0] + a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[5][4] - a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[5][1] - a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[5][4] + a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[5][0] + a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[5][1] - a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[5][0] - a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[5][2] + a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[5][1] + a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[5][2] - a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[5][0] - a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[5][1] + a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[5][0])/denom;
  invA[4][4] =  (a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[5][5] - a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[5][3] - a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[5][5] + a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[5][2] + a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[5][3] - a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[5][5] + a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[5][3] + a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[5][5] - a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[5][1] - a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[5][3] + a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[5][1] + a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[5][5] - a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[5][2] - a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[5][5] + a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[5][1] + a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[5][2] - a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[5][1] - a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[5][3] + a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[5][2] + a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[5][3] - a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[5][1] - a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[5][2] + a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[5][5] + a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[5][3] + a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[5][5] - a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[5][2] - a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[5][3] + a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[5][5] - a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[5][3] - a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[5][5] + a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[5][0] + a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[5][3] - a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[5][0] - a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[5][5] + a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[5][2] + a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[5][5] - a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[5][0] - a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[5][2] + a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[5][0] + a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[5][3] - a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[5][2] - a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[5][3] + a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[5][0] + a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[5][2] - a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[5][5] - a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[5][3] - a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[5][5] + a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[5][1] + a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[5][3] - a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[5][5] + a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[5][3] + a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[5][5] - a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[5][0] - a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[5][3] + a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[5][0] + a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[5][5] - a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[5][1] - a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[5][5] + a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[5][0] + a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[5][1] - a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[5][0] - a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[5][3] + a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[5][1] + a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[5][3] - a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[5][0] - a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[5][1] + a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[5][0] - a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[5][5] + a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[5][2] + a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[5][5] - a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[5][1] - a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[5][2] + a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[5][1] + a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[5][5] - a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[5][2] - a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[5][5] + a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[5][0] + a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[5][2] - a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[5][0] - a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[5][5] + a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[5][1] + a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[5][5] - a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[5][0] - a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[5][1] + a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[5][0] + a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[5][2] - a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[5][1] - a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[5][2] + a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[5][0] + a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[5][1] - a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[5][0] + a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[5][3] - a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[5][2] - a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[5][3] + a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[5][1] + a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[5][2] - a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[5][1] - a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[5][3] + a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[5][2] + a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[5][3] - a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[5][0] - a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[5][2] + a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[5][0] + a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[5][3] - a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[5][1] - a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[5][3] + a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[5][0] + a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[5][1] - a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[5][0] - a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[5][2] + a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[5][1] + a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[5][2] - a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[5][0] - a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[5][1] + a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[5][0])/denom;
  invA[5][4] = -(a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[5][4] - a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[5][3] - a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[5][4] + a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[5][2] + a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[5][3] - a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[5][2] - a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[5][4] + a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[5][3] + a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[5][4] - a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[5][1] - a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[5][3] + a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[5][1] + a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[5][4] - a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[5][2] - a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[5][4] + a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[5][1] + a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[5][2] - a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[5][1] - a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[5][3] + a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[5][2] + a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[5][3] - a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[5][1] - a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[5][2] + a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[5][1] - a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[5][4] + a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[5][3] + a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[5][4] - a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[5][2] - a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[5][3] + a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[5][2] + a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[5][4] - a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[5][3] - a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[5][4] + a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[5][0] + a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[5][3] - a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[5][0] - a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[5][4] + a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[5][2] + a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[5][4] - a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[5][0] - a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[5][2] + a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[5][0] + a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[5][3] - a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[5][2] - a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[5][3] + a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[5][0] + a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[5][2] - a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[5][0] + a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[5][4] - a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[5][3] - a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[5][4] + a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[5][1] + a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[5][3] - a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[5][1] - a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[5][4] + a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[5][3] + a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[5][4] - a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[5][0] - a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[5][3] + a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[5][0] + a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[5][4] - a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[5][1] - a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[5][4] + a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[5][0] + a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[5][1] - a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[5][0] - a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[5][3] + a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[5][1] + a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[5][3] - a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[5][0] - a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[5][1] + a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[5][0] - a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[5][4] + a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[5][2] + a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[5][4] - a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[5][1] - a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[5][2] + a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[5][1] + a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[5][4] - a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[5][2] - a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[5][4] + a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[5][0] + a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[5][2] - a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[5][0] - a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[5][4] + a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[5][1] + a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[5][4] - a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[5][0] - a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[5][1] + a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[5][0] + a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[5][2] - a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[5][1] - a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[5][2] + a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[5][0] + a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[5][1] - a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[5][0] + a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[5][3] - a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[5][2] - a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[5][3] + a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[5][1] + a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[5][2] - a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[5][1] - a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[5][3] + a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[5][2] + a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[5][3] - a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[5][0] - a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[5][2] + a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[5][0] + a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[5][3] - a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[5][1] - a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[5][3] + a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[5][0] + a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[5][1] - a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[5][0] - a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[5][2] + a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[5][1] + a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[5][2] - a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[5][0] - a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[5][1] + a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[5][0])/denom;

  invA[0][5] = -(a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[4][5] - a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[4][4] - a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[4][5] + a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[4][3] + a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[4][4] - a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[4][3] - a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[4][5] + a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[4][4] + a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[4][5] - a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[4][2] - a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[4][4] + a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[4][2] + a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[4][5] - a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[4][3] - a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[4][5] + a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[4][2] + a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[4][3] - a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[4][2] - a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[4][4] + a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[4][3] + a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[4][4] - a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[4][2] - a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[4][3] + a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[4][2] - a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[4][5] + a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[4][4] + a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[4][5] - a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[4][3] - a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[4][4] + a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[4][3] + a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[4][5] - a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[4][4] - a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[4][5] + a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[4][1] + a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[4][4] - a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[4][1] - a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[4][5] + a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[4][3] + a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[4][5] - a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[4][1] - a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[4][3] + a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[4][1] + a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[4][4] - a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[4][3] - a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[4][4] + a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[4][1] + a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[4][3] - a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[4][1] + a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[4][5] - a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[4][4] - a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[4][5] + a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[4][2] + a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[4][4] - a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[4][2] - a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[4][5] + a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[4][4] + a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[4][5] - a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[4][1] - a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[4][4] + a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[4][1] + a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[4][5] - a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[4][2] - a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[4][5] + a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[4][1] + a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[4][2] - a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[4][1] - a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[4][4] + a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[4][2] + a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[4][4] - a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[4][1] - a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[4][2] + a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[4][1] - a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[4][5] + a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[4][3] + a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[4][5] - a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[4][2] - a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[4][3] + a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[4][2] + a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[4][5] - a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[4][3] - a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[4][5] + a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[4][1] + a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[4][3] - a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[4][1] - a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[4][5] + a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[4][2] + a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[4][5] - a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[4][1] - a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[4][2] + a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[4][1] + a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[4][3] - a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[4][2] - a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[4][3] + a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[4][1] + a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[4][2] - a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[4][1] + a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[4][4] - a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[4][3] - a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[4][4] + a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[4][2] + a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[4][3] - a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[4][2] - a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[4][4] + a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[4][3] + a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[4][4] - a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[4][1] - a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[4][3] + a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[4][1] + a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[4][4] - a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[4][2] - a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[4][4] + a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[4][1] + a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[4][2] - a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[4][1] - a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[4][3] + a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[4][2] + a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[4][3] - a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[4][1] - a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[4][2] + a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[4][1])/denom;
  invA[1][5] =  (a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[4][5] - a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[4][4] - a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[4][5] + a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[4][3] + a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[4][4] - a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[4][3] - a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[4][5] + a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[4][4] + a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[4][5] - a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[4][2] - a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[4][4] + a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[4][2] + a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[4][5] - a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[4][3] - a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[4][5] + a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[4][2] + a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[4][3] - a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[4][2] - a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[4][4] + a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[4][3] + a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[4][4] - a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[4][2] - a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[4][3] + a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[4][2] - a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[4][5] + a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[4][4] + a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[4][5] - a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[4][3] - a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[4][4] + a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[4][3] + a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[4][5] - a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[4][4] - a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[4][5] + a[0][2]*a[1][3]*a[2][4]*a[3][5]*a[4][0] + a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[4][4] - a[0][2]*a[1][3]*a[2][5]*a[3][4]*a[4][0] - a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[4][5] + a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[4][3] + a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[4][5] - a[0][2]*a[1][4]*a[2][3]*a[3][5]*a[4][0] - a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[4][3] + a[0][2]*a[1][4]*a[2][5]*a[3][3]*a[4][0] + a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[4][4] - a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[4][3] - a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[4][4] + a[0][2]*a[1][5]*a[2][3]*a[3][4]*a[4][0] + a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[4][3] - a[0][2]*a[1][5]*a[2][4]*a[3][3]*a[4][0] + a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[4][5] - a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[4][4] - a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[4][5] + a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[4][2] + a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[4][4] - a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[4][2] - a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[4][5] + a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[4][4] + a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[4][5] - a[0][3]*a[1][2]*a[2][4]*a[3][5]*a[4][0] - a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[4][4] + a[0][3]*a[1][2]*a[2][5]*a[3][4]*a[4][0] + a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[4][5] - a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[4][2] - a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[4][5] + a[0][3]*a[1][4]*a[2][2]*a[3][5]*a[4][0] + a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[4][2] - a[0][3]*a[1][4]*a[2][5]*a[3][2]*a[4][0] - a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[4][4] + a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[4][2] + a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[4][4] - a[0][3]*a[1][5]*a[2][2]*a[3][4]*a[4][0] - a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[4][2] + a[0][3]*a[1][5]*a[2][4]*a[3][2]*a[4][0] - a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[4][5] + a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[4][3] + a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[4][5] - a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[4][2] - a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[4][3] + a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[4][2] + a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[4][5] - a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[4][3] - a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[4][5] + a[0][4]*a[1][2]*a[2][3]*a[3][5]*a[4][0] + a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[4][3] - a[0][4]*a[1][2]*a[2][5]*a[3][3]*a[4][0] - a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[4][5] + a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[4][2] + a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[4][5] - a[0][4]*a[1][3]*a[2][2]*a[3][5]*a[4][0] - a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[4][2] + a[0][4]*a[1][3]*a[2][5]*a[3][2]*a[4][0] + a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[4][3] - a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[4][2] - a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[4][3] + a[0][4]*a[1][5]*a[2][2]*a[3][3]*a[4][0] + a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[4][2] - a[0][4]*a[1][5]*a[2][3]*a[3][2]*a[4][0] + a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[4][4] - a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[4][3] - a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[4][4] + a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[4][2] + a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[4][3] - a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[4][2] - a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[4][4] + a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[4][3] + a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[4][4] - a[0][5]*a[1][2]*a[2][3]*a[3][4]*a[4][0] - a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[4][3] + a[0][5]*a[1][2]*a[2][4]*a[3][3]*a[4][0] + a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[4][4] - a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[4][2] - a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[4][4] + a[0][5]*a[1][3]*a[2][2]*a[3][4]*a[4][0] + a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[4][2] - a[0][5]*a[1][3]*a[2][4]*a[3][2]*a[4][0] - a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[4][3] + a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[4][2] + a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[4][3] - a[0][5]*a[1][4]*a[2][2]*a[3][3]*a[4][0] - a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[4][2] + a[0][5]*a[1][4]*a[2][3]*a[3][2]*a[4][0])/denom;
  invA[2][5] = -(a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[4][5] - a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[4][4] - a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[4][5] + a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[4][3] + a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[4][4] - a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[4][3] - a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[4][5] + a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[4][4] + a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[4][5] - a[0][0]*a[1][3]*a[2][4]*a[3][5]*a[4][1] - a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[4][4] + a[0][0]*a[1][3]*a[2][5]*a[3][4]*a[4][1] + a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[4][5] - a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[4][3] - a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[4][5] + a[0][0]*a[1][4]*a[2][3]*a[3][5]*a[4][1] + a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[4][3] - a[0][0]*a[1][4]*a[2][5]*a[3][3]*a[4][1] - a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[4][4] + a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[4][3] + a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[4][4] - a[0][0]*a[1][5]*a[2][3]*a[3][4]*a[4][1] - a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[4][3] + a[0][0]*a[1][5]*a[2][4]*a[3][3]*a[4][1] - a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[4][5] + a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[4][4] + a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[4][5] - a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[4][3] - a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[4][4] + a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[4][3] + a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[4][5] - a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[4][4] - a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[4][5] + a[0][1]*a[1][3]*a[2][4]*a[3][5]*a[4][0] + a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[4][4] - a[0][1]*a[1][3]*a[2][5]*a[3][4]*a[4][0] - a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[4][5] + a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[4][3] + a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[4][5] - a[0][1]*a[1][4]*a[2][3]*a[3][5]*a[4][0] - a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[4][3] + a[0][1]*a[1][4]*a[2][5]*a[3][3]*a[4][0] + a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[4][4] - a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[4][3] - a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[4][4] + a[0][1]*a[1][5]*a[2][3]*a[3][4]*a[4][0] + a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[4][3] - a[0][1]*a[1][5]*a[2][4]*a[3][3]*a[4][0] + a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[4][5] - a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[4][4] - a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[4][5] + a[0][3]*a[1][0]*a[2][4]*a[3][5]*a[4][1] + a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[4][4] - a[0][3]*a[1][0]*a[2][5]*a[3][4]*a[4][1] - a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[4][5] + a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[4][4] + a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[4][5] - a[0][3]*a[1][1]*a[2][4]*a[3][5]*a[4][0] - a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[4][4] + a[0][3]*a[1][1]*a[2][5]*a[3][4]*a[4][0] + a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[4][5] - a[0][3]*a[1][4]*a[2][0]*a[3][5]*a[4][1] - a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[4][5] + a[0][3]*a[1][4]*a[2][1]*a[3][5]*a[4][0] + a[0][3]*a[1][4]*a[2][5]*a[3][0]*a[4][1] - a[0][3]*a[1][4]*a[2][5]*a[3][1]*a[4][0] - a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[4][4] + a[0][3]*a[1][5]*a[2][0]*a[3][4]*a[4][1] + a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[4][4] - a[0][3]*a[1][5]*a[2][1]*a[3][4]*a[4][0] - a[0][3]*a[1][5]*a[2][4]*a[3][0]*a[4][1] + a[0][3]*a[1][5]*a[2][4]*a[3][1]*a[4][0] - a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[4][5] + a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[4][3] + a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[4][5] - a[0][4]*a[1][0]*a[2][3]*a[3][5]*a[4][1] - a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[4][3] + a[0][4]*a[1][0]*a[2][5]*a[3][3]*a[4][1] + a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[4][5] - a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[4][3] - a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[4][5] + a[0][4]*a[1][1]*a[2][3]*a[3][5]*a[4][0] + a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[4][3] - a[0][4]*a[1][1]*a[2][5]*a[3][3]*a[4][0] - a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[4][5] + a[0][4]*a[1][3]*a[2][0]*a[3][5]*a[4][1] + a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[4][5] - a[0][4]*a[1][3]*a[2][1]*a[3][5]*a[4][0] - a[0][4]*a[1][3]*a[2][5]*a[3][0]*a[4][1] + a[0][4]*a[1][3]*a[2][5]*a[3][1]*a[4][0] + a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[4][3] - a[0][4]*a[1][5]*a[2][0]*a[3][3]*a[4][1] - a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[4][3] + a[0][4]*a[1][5]*a[2][1]*a[3][3]*a[4][0] + a[0][4]*a[1][5]*a[2][3]*a[3][0]*a[4][1] - a[0][4]*a[1][5]*a[2][3]*a[3][1]*a[4][0] + a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[4][4] - a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[4][3] - a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[4][4] + a[0][5]*a[1][0]*a[2][3]*a[3][4]*a[4][1] + a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[4][3] - a[0][5]*a[1][0]*a[2][4]*a[3][3]*a[4][1] - a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[4][4] + a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[4][3] + a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[4][4] - a[0][5]*a[1][1]*a[2][3]*a[3][4]*a[4][0] - a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[4][3] + a[0][5]*a[1][1]*a[2][4]*a[3][3]*a[4][0] + a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[4][4] - a[0][5]*a[1][3]*a[2][0]*a[3][4]*a[4][1] - a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[4][4] + a[0][5]*a[1][3]*a[2][1]*a[3][4]*a[4][0] + a[0][5]*a[1][3]*a[2][4]*a[3][0]*a[4][1] - a[0][5]*a[1][3]*a[2][4]*a[3][1]*a[4][0] - a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[4][3] + a[0][5]*a[1][4]*a[2][0]*a[3][3]*a[4][1] + a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[4][3] - a[0][5]*a[1][4]*a[2][1]*a[3][3]*a[4][0] - a[0][5]*a[1][4]*a[2][3]*a[3][0]*a[4][1] + a[0][5]*a[1][4]*a[2][3]*a[3][1]*a[4][0])/denom;
  invA[3][5] =  (a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[4][5] - a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[4][4] - a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[4][5] + a[0][0]*a[1][1]*a[2][4]*a[3][5]*a[4][2] + a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[4][4] - a[0][0]*a[1][1]*a[2][5]*a[3][4]*a[4][2] - a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[4][5] + a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[4][4] + a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[4][5] - a[0][0]*a[1][2]*a[2][4]*a[3][5]*a[4][1] - a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[4][4] + a[0][0]*a[1][2]*a[2][5]*a[3][4]*a[4][1] + a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[4][5] - a[0][0]*a[1][4]*a[2][1]*a[3][5]*a[4][2] - a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[4][5] + a[0][0]*a[1][4]*a[2][2]*a[3][5]*a[4][1] + a[0][0]*a[1][4]*a[2][5]*a[3][1]*a[4][2] - a[0][0]*a[1][4]*a[2][5]*a[3][2]*a[4][1] - a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[4][4] + a[0][0]*a[1][5]*a[2][1]*a[3][4]*a[4][2] + a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[4][4] - a[0][0]*a[1][5]*a[2][2]*a[3][4]*a[4][1] - a[0][0]*a[1][5]*a[2][4]*a[3][1]*a[4][2] + a[0][0]*a[1][5]*a[2][4]*a[3][2]*a[4][1] - a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[4][5] + a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[4][4] + a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[4][5] - a[0][1]*a[1][0]*a[2][4]*a[3][5]*a[4][2] - a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[4][4] + a[0][1]*a[1][0]*a[2][5]*a[3][4]*a[4][2] + a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[4][5] - a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[4][4] - a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[4][5] + a[0][1]*a[1][2]*a[2][4]*a[3][5]*a[4][0] + a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[4][4] - a[0][1]*a[1][2]*a[2][5]*a[3][4]*a[4][0] - a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[4][5] + a[0][1]*a[1][4]*a[2][0]*a[3][5]*a[4][2] + a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[4][5] - a[0][1]*a[1][4]*a[2][2]*a[3][5]*a[4][0] - a[0][1]*a[1][4]*a[2][5]*a[3][0]*a[4][2] + a[0][1]*a[1][4]*a[2][5]*a[3][2]*a[4][0] + a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[4][4] - a[0][1]*a[1][5]*a[2][0]*a[3][4]*a[4][2] - a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[4][4] + a[0][1]*a[1][5]*a[2][2]*a[3][4]*a[4][0] + a[0][1]*a[1][5]*a[2][4]*a[3][0]*a[4][2] - a[0][1]*a[1][5]*a[2][4]*a[3][2]*a[4][0] + a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[4][5] - a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[4][4] - a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[4][5] + a[0][2]*a[1][0]*a[2][4]*a[3][5]*a[4][1] + a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[4][4] - a[0][2]*a[1][0]*a[2][5]*a[3][4]*a[4][1] - a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[4][5] + a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[4][4] + a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[4][5] - a[0][2]*a[1][1]*a[2][4]*a[3][5]*a[4][0] - a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[4][4] + a[0][2]*a[1][1]*a[2][5]*a[3][4]*a[4][0] + a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[4][5] - a[0][2]*a[1][4]*a[2][0]*a[3][5]*a[4][1] - a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[4][5] + a[0][2]*a[1][4]*a[2][1]*a[3][5]*a[4][0] + a[0][2]*a[1][4]*a[2][5]*a[3][0]*a[4][1] - a[0][2]*a[1][4]*a[2][5]*a[3][1]*a[4][0] - a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[4][4] + a[0][2]*a[1][5]*a[2][0]*a[3][4]*a[4][1] + a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[4][4] - a[0][2]*a[1][5]*a[2][1]*a[3][4]*a[4][0] - a[0][2]*a[1][5]*a[2][4]*a[3][0]*a[4][1] + a[0][2]*a[1][5]*a[2][4]*a[3][1]*a[4][0] - a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[4][5] + a[0][4]*a[1][0]*a[2][1]*a[3][5]*a[4][2] + a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[4][5] - a[0][4]*a[1][0]*a[2][2]*a[3][5]*a[4][1] - a[0][4]*a[1][0]*a[2][5]*a[3][1]*a[4][2] + a[0][4]*a[1][0]*a[2][5]*a[3][2]*a[4][1] + a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[4][5] - a[0][4]*a[1][1]*a[2][0]*a[3][5]*a[4][2] - a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[4][5] + a[0][4]*a[1][1]*a[2][2]*a[3][5]*a[4][0] + a[0][4]*a[1][1]*a[2][5]*a[3][0]*a[4][2] - a[0][4]*a[1][1]*a[2][5]*a[3][2]*a[4][0] - a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[4][5] + a[0][4]*a[1][2]*a[2][0]*a[3][5]*a[4][1] + a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[4][5] - a[0][4]*a[1][2]*a[2][1]*a[3][5]*a[4][0] - a[0][4]*a[1][2]*a[2][5]*a[3][0]*a[4][1] + a[0][4]*a[1][2]*a[2][5]*a[3][1]*a[4][0] + a[0][4]*a[1][5]*a[2][0]*a[3][1]*a[4][2] - a[0][4]*a[1][5]*a[2][0]*a[3][2]*a[4][1] - a[0][4]*a[1][5]*a[2][1]*a[3][0]*a[4][2] + a[0][4]*a[1][5]*a[2][1]*a[3][2]*a[4][0] + a[0][4]*a[1][5]*a[2][2]*a[3][0]*a[4][1] - a[0][4]*a[1][5]*a[2][2]*a[3][1]*a[4][0] + a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[4][4] - a[0][5]*a[1][0]*a[2][1]*a[3][4]*a[4][2] - a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[4][4] + a[0][5]*a[1][0]*a[2][2]*a[3][4]*a[4][1] + a[0][5]*a[1][0]*a[2][4]*a[3][1]*a[4][2] - a[0][5]*a[1][0]*a[2][4]*a[3][2]*a[4][1] - a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[4][4] + a[0][5]*a[1][1]*a[2][0]*a[3][4]*a[4][2] + a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[4][4] - a[0][5]*a[1][1]*a[2][2]*a[3][4]*a[4][0] - a[0][5]*a[1][1]*a[2][4]*a[3][0]*a[4][2] + a[0][5]*a[1][1]*a[2][4]*a[3][2]*a[4][0] + a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[4][4] - a[0][5]*a[1][2]*a[2][0]*a[3][4]*a[4][1] - a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[4][4] + a[0][5]*a[1][2]*a[2][1]*a[3][4]*a[4][0] + a[0][5]*a[1][2]*a[2][4]*a[3][0]*a[4][1] - a[0][5]*a[1][2]*a[2][4]*a[3][1]*a[4][0] - a[0][5]*a[1][4]*a[2][0]*a[3][1]*a[4][2] + a[0][5]*a[1][4]*a[2][0]*a[3][2]*a[4][1] + a[0][5]*a[1][4]*a[2][1]*a[3][0]*a[4][2] - a[0][5]*a[1][4]*a[2][1]*a[3][2]*a[4][0] - a[0][5]*a[1][4]*a[2][2]*a[3][0]*a[4][1] + a[0][5]*a[1][4]*a[2][2]*a[3][1]*a[4][0])/denom;
  invA[4][5] = -(a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[4][5] - a[0][0]*a[1][1]*a[2][2]*a[3][5]*a[4][3] - a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[4][5] + a[0][0]*a[1][1]*a[2][3]*a[3][5]*a[4][2] + a[0][0]*a[1][1]*a[2][5]*a[3][2]*a[4][3] - a[0][0]*a[1][1]*a[2][5]*a[3][3]*a[4][2] - a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[4][5] + a[0][0]*a[1][2]*a[2][1]*a[3][5]*a[4][3] + a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[4][5] - a[0][0]*a[1][2]*a[2][3]*a[3][5]*a[4][1] - a[0][0]*a[1][2]*a[2][5]*a[3][1]*a[4][3] + a[0][0]*a[1][2]*a[2][5]*a[3][3]*a[4][1] + a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[4][5] - a[0][0]*a[1][3]*a[2][1]*a[3][5]*a[4][2] - a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[4][5] + a[0][0]*a[1][3]*a[2][2]*a[3][5]*a[4][1] + a[0][0]*a[1][3]*a[2][5]*a[3][1]*a[4][2] - a[0][0]*a[1][3]*a[2][5]*a[3][2]*a[4][1] - a[0][0]*a[1][5]*a[2][1]*a[3][2]*a[4][3] + a[0][0]*a[1][5]*a[2][1]*a[3][3]*a[4][2] + a[0][0]*a[1][5]*a[2][2]*a[3][1]*a[4][3] - a[0][0]*a[1][5]*a[2][2]*a[3][3]*a[4][1] - a[0][0]*a[1][5]*a[2][3]*a[3][1]*a[4][2] + a[0][0]*a[1][5]*a[2][3]*a[3][2]*a[4][1] - a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[4][5] + a[0][1]*a[1][0]*a[2][2]*a[3][5]*a[4][3] + a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[4][5] - a[0][1]*a[1][0]*a[2][3]*a[3][5]*a[4][2] - a[0][1]*a[1][0]*a[2][5]*a[3][2]*a[4][3] + a[0][1]*a[1][0]*a[2][5]*a[3][3]*a[4][2] + a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[4][5] - a[0][1]*a[1][2]*a[2][0]*a[3][5]*a[4][3] - a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[4][5] + a[0][1]*a[1][2]*a[2][3]*a[3][5]*a[4][0] + a[0][1]*a[1][2]*a[2][5]*a[3][0]*a[4][3] - a[0][1]*a[1][2]*a[2][5]*a[3][3]*a[4][0] - a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[4][5] + a[0][1]*a[1][3]*a[2][0]*a[3][5]*a[4][2] + a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[4][5] - a[0][1]*a[1][3]*a[2][2]*a[3][5]*a[4][0] - a[0][1]*a[1][3]*a[2][5]*a[3][0]*a[4][2] + a[0][1]*a[1][3]*a[2][5]*a[3][2]*a[4][0] + a[0][1]*a[1][5]*a[2][0]*a[3][2]*a[4][3] - a[0][1]*a[1][5]*a[2][0]*a[3][3]*a[4][2] - a[0][1]*a[1][5]*a[2][2]*a[3][0]*a[4][3] + a[0][1]*a[1][5]*a[2][2]*a[3][3]*a[4][0] + a[0][1]*a[1][5]*a[2][3]*a[3][0]*a[4][2] - a[0][1]*a[1][5]*a[2][3]*a[3][2]*a[4][0] + a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[4][5] - a[0][2]*a[1][0]*a[2][1]*a[3][5]*a[4][3] - a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[4][5] + a[0][2]*a[1][0]*a[2][3]*a[3][5]*a[4][1] + a[0][2]*a[1][0]*a[2][5]*a[3][1]*a[4][3] - a[0][2]*a[1][0]*a[2][5]*a[3][3]*a[4][1] - a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[4][5] + a[0][2]*a[1][1]*a[2][0]*a[3][5]*a[4][3] + a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[4][5] - a[0][2]*a[1][1]*a[2][3]*a[3][5]*a[4][0] - a[0][2]*a[1][1]*a[2][5]*a[3][0]*a[4][3] + a[0][2]*a[1][1]*a[2][5]*a[3][3]*a[4][0] + a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[4][5] - a[0][2]*a[1][3]*a[2][0]*a[3][5]*a[4][1] - a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[4][5] + a[0][2]*a[1][3]*a[2][1]*a[3][5]*a[4][0] + a[0][2]*a[1][3]*a[2][5]*a[3][0]*a[4][1] - a[0][2]*a[1][3]*a[2][5]*a[3][1]*a[4][0] - a[0][2]*a[1][5]*a[2][0]*a[3][1]*a[4][3] + a[0][2]*a[1][5]*a[2][0]*a[3][3]*a[4][1] + a[0][2]*a[1][5]*a[2][1]*a[3][0]*a[4][3] - a[0][2]*a[1][5]*a[2][1]*a[3][3]*a[4][0] - a[0][2]*a[1][5]*a[2][3]*a[3][0]*a[4][1] + a[0][2]*a[1][5]*a[2][3]*a[3][1]*a[4][0] - a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[4][5] + a[0][3]*a[1][0]*a[2][1]*a[3][5]*a[4][2] + a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[4][5] - a[0][3]*a[1][0]*a[2][2]*a[3][5]*a[4][1] - a[0][3]*a[1][0]*a[2][5]*a[3][1]*a[4][2] + a[0][3]*a[1][0]*a[2][5]*a[3][2]*a[4][1] + a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[4][5] - a[0][3]*a[1][1]*a[2][0]*a[3][5]*a[4][2] - a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[4][5] + a[0][3]*a[1][1]*a[2][2]*a[3][5]*a[4][0] + a[0][3]*a[1][1]*a[2][5]*a[3][0]*a[4][2] - a[0][3]*a[1][1]*a[2][5]*a[3][2]*a[4][0] - a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[4][5] + a[0][3]*a[1][2]*a[2][0]*a[3][5]*a[4][1] + a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[4][5] - a[0][3]*a[1][2]*a[2][1]*a[3][5]*a[4][0] - a[0][3]*a[1][2]*a[2][5]*a[3][0]*a[4][1] + a[0][3]*a[1][2]*a[2][5]*a[3][1]*a[4][0] + a[0][3]*a[1][5]*a[2][0]*a[3][1]*a[4][2] - a[0][3]*a[1][5]*a[2][0]*a[3][2]*a[4][1] - a[0][3]*a[1][5]*a[2][1]*a[3][0]*a[4][2] + a[0][3]*a[1][5]*a[2][1]*a[3][2]*a[4][0] + a[0][3]*a[1][5]*a[2][2]*a[3][0]*a[4][1] - a[0][3]*a[1][5]*a[2][2]*a[3][1]*a[4][0] + a[0][5]*a[1][0]*a[2][1]*a[3][2]*a[4][3] - a[0][5]*a[1][0]*a[2][1]*a[3][3]*a[4][2] - a[0][5]*a[1][0]*a[2][2]*a[3][1]*a[4][3] + a[0][5]*a[1][0]*a[2][2]*a[3][3]*a[4][1] + a[0][5]*a[1][0]*a[2][3]*a[3][1]*a[4][2] - a[0][5]*a[1][0]*a[2][3]*a[3][2]*a[4][1] - a[0][5]*a[1][1]*a[2][0]*a[3][2]*a[4][3] + a[0][5]*a[1][1]*a[2][0]*a[3][3]*a[4][2] + a[0][5]*a[1][1]*a[2][2]*a[3][0]*a[4][3] - a[0][5]*a[1][1]*a[2][2]*a[3][3]*a[4][0] - a[0][5]*a[1][1]*a[2][3]*a[3][0]*a[4][2] + a[0][5]*a[1][1]*a[2][3]*a[3][2]*a[4][0] + a[0][5]*a[1][2]*a[2][0]*a[3][1]*a[4][3] - a[0][5]*a[1][2]*a[2][0]*a[3][3]*a[4][1] - a[0][5]*a[1][2]*a[2][1]*a[3][0]*a[4][3] + a[0][5]*a[1][2]*a[2][1]*a[3][3]*a[4][0] + a[0][5]*a[1][2]*a[2][3]*a[3][0]*a[4][1] - a[0][5]*a[1][2]*a[2][3]*a[3][1]*a[4][0] - a[0][5]*a[1][3]*a[2][0]*a[3][1]*a[4][2] + a[0][5]*a[1][3]*a[2][0]*a[3][2]*a[4][1] + a[0][5]*a[1][3]*a[2][1]*a[3][0]*a[4][2] - a[0][5]*a[1][3]*a[2][1]*a[3][2]*a[4][0] - a[0][5]*a[1][3]*a[2][2]*a[3][0]*a[4][1] + a[0][5]*a[1][3]*a[2][2]*a[3][1]*a[4][0])/denom;
  invA[5][5] =  (a[0][0]*a[1][1]*a[2][2]*a[3][3]*a[4][4] - a[0][0]*a[1][1]*a[2][2]*a[3][4]*a[4][3] - a[0][0]*a[1][1]*a[2][3]*a[3][2]*a[4][4] + a[0][0]*a[1][1]*a[2][3]*a[3][4]*a[4][2] + a[0][0]*a[1][1]*a[2][4]*a[3][2]*a[4][3] - a[0][0]*a[1][1]*a[2][4]*a[3][3]*a[4][2] - a[0][0]*a[1][2]*a[2][1]*a[3][3]*a[4][4] + a[0][0]*a[1][2]*a[2][1]*a[3][4]*a[4][3] + a[0][0]*a[1][2]*a[2][3]*a[3][1]*a[4][4] - a[0][0]*a[1][2]*a[2][3]*a[3][4]*a[4][1] - a[0][0]*a[1][2]*a[2][4]*a[3][1]*a[4][3] + a[0][0]*a[1][2]*a[2][4]*a[3][3]*a[4][1] + a[0][0]*a[1][3]*a[2][1]*a[3][2]*a[4][4] - a[0][0]*a[1][3]*a[2][1]*a[3][4]*a[4][2] - a[0][0]*a[1][3]*a[2][2]*a[3][1]*a[4][4] + a[0][0]*a[1][3]*a[2][2]*a[3][4]*a[4][1] + a[0][0]*a[1][3]*a[2][4]*a[3][1]*a[4][2] - a[0][0]*a[1][3]*a[2][4]*a[3][2]*a[4][1] - a[0][0]*a[1][4]*a[2][1]*a[3][2]*a[4][3] + a[0][0]*a[1][4]*a[2][1]*a[3][3]*a[4][2] + a[0][0]*a[1][4]*a[2][2]*a[3][1]*a[4][3] - a[0][0]*a[1][4]*a[2][2]*a[3][3]*a[4][1] - a[0][0]*a[1][4]*a[2][3]*a[3][1]*a[4][2] + a[0][0]*a[1][4]*a[2][3]*a[3][2]*a[4][1] - a[0][1]*a[1][0]*a[2][2]*a[3][3]*a[4][4] + a[0][1]*a[1][0]*a[2][2]*a[3][4]*a[4][3] + a[0][1]*a[1][0]*a[2][3]*a[3][2]*a[4][4] - a[0][1]*a[1][0]*a[2][3]*a[3][4]*a[4][2] - a[0][1]*a[1][0]*a[2][4]*a[3][2]*a[4][3] + a[0][1]*a[1][0]*a[2][4]*a[3][3]*a[4][2] + a[0][1]*a[1][2]*a[2][0]*a[3][3]*a[4][4] - a[0][1]*a[1][2]*a[2][0]*a[3][4]*a[4][3] - a[0][1]*a[1][2]*a[2][3]*a[3][0]*a[4][4] + a[0][1]*a[1][2]*a[2][3]*a[3][4]*a[4][0] + a[0][1]*a[1][2]*a[2][4]*a[3][0]*a[4][3] - a[0][1]*a[1][2]*a[2][4]*a[3][3]*a[4][0] - a[0][1]*a[1][3]*a[2][0]*a[3][2]*a[4][4] + a[0][1]*a[1][3]*a[2][0]*a[3][4]*a[4][2] + a[0][1]*a[1][3]*a[2][2]*a[3][0]*a[4][4] - a[0][1]*a[1][3]*a[2][2]*a[3][4]*a[4][0] - a[0][1]*a[1][3]*a[2][4]*a[3][0]*a[4][2] + a[0][1]*a[1][3]*a[2][4]*a[3][2]*a[4][0] + a[0][1]*a[1][4]*a[2][0]*a[3][2]*a[4][3] - a[0][1]*a[1][4]*a[2][0]*a[3][3]*a[4][2] - a[0][1]*a[1][4]*a[2][2]*a[3][0]*a[4][3] + a[0][1]*a[1][4]*a[2][2]*a[3][3]*a[4][0] + a[0][1]*a[1][4]*a[2][3]*a[3][0]*a[4][2] - a[0][1]*a[1][4]*a[2][3]*a[3][2]*a[4][0] + a[0][2]*a[1][0]*a[2][1]*a[3][3]*a[4][4] - a[0][2]*a[1][0]*a[2][1]*a[3][4]*a[4][3] - a[0][2]*a[1][0]*a[2][3]*a[3][1]*a[4][4] + a[0][2]*a[1][0]*a[2][3]*a[3][4]*a[4][1] + a[0][2]*a[1][0]*a[2][4]*a[3][1]*a[4][3] - a[0][2]*a[1][0]*a[2][4]*a[3][3]*a[4][1] - a[0][2]*a[1][1]*a[2][0]*a[3][3]*a[4][4] + a[0][2]*a[1][1]*a[2][0]*a[3][4]*a[4][3] + a[0][2]*a[1][1]*a[2][3]*a[3][0]*a[4][4] - a[0][2]*a[1][1]*a[2][3]*a[3][4]*a[4][0] - a[0][2]*a[1][1]*a[2][4]*a[3][0]*a[4][3] + a[0][2]*a[1][1]*a[2][4]*a[3][3]*a[4][0] + a[0][2]*a[1][3]*a[2][0]*a[3][1]*a[4][4] - a[0][2]*a[1][3]*a[2][0]*a[3][4]*a[4][1] - a[0][2]*a[1][3]*a[2][1]*a[3][0]*a[4][4] + a[0][2]*a[1][3]*a[2][1]*a[3][4]*a[4][0] + a[0][2]*a[1][3]*a[2][4]*a[3][0]*a[4][1] - a[0][2]*a[1][3]*a[2][4]*a[3][1]*a[4][0] - a[0][2]*a[1][4]*a[2][0]*a[3][1]*a[4][3] + a[0][2]*a[1][4]*a[2][0]*a[3][3]*a[4][1] + a[0][2]*a[1][4]*a[2][1]*a[3][0]*a[4][3] - a[0][2]*a[1][4]*a[2][1]*a[3][3]*a[4][0] - a[0][2]*a[1][4]*a[2][3]*a[3][0]*a[4][1] + a[0][2]*a[1][4]*a[2][3]*a[3][1]*a[4][0] - a[0][3]*a[1][0]*a[2][1]*a[3][2]*a[4][4] + a[0][3]*a[1][0]*a[2][1]*a[3][4]*a[4][2] + a[0][3]*a[1][0]*a[2][2]*a[3][1]*a[4][4] - a[0][3]*a[1][0]*a[2][2]*a[3][4]*a[4][1] - a[0][3]*a[1][0]*a[2][4]*a[3][1]*a[4][2] + a[0][3]*a[1][0]*a[2][4]*a[3][2]*a[4][1] + a[0][3]*a[1][1]*a[2][0]*a[3][2]*a[4][4] - a[0][3]*a[1][1]*a[2][0]*a[3][4]*a[4][2] - a[0][3]*a[1][1]*a[2][2]*a[3][0]*a[4][4] + a[0][3]*a[1][1]*a[2][2]*a[3][4]*a[4][0] + a[0][3]*a[1][1]*a[2][4]*a[3][0]*a[4][2] - a[0][3]*a[1][1]*a[2][4]*a[3][2]*a[4][0] - a[0][3]*a[1][2]*a[2][0]*a[3][1]*a[4][4] + a[0][3]*a[1][2]*a[2][0]*a[3][4]*a[4][1] + a[0][3]*a[1][2]*a[2][1]*a[3][0]*a[4][4] - a[0][3]*a[1][2]*a[2][1]*a[3][4]*a[4][0] - a[0][3]*a[1][2]*a[2][4]*a[3][0]*a[4][1] + a[0][3]*a[1][2]*a[2][4]*a[3][1]*a[4][0] + a[0][3]*a[1][4]*a[2][0]*a[3][1]*a[4][2] - a[0][3]*a[1][4]*a[2][0]*a[3][2]*a[4][1] - a[0][3]*a[1][4]*a[2][1]*a[3][0]*a[4][2] + a[0][3]*a[1][4]*a[2][1]*a[3][2]*a[4][0] + a[0][3]*a[1][4]*a[2][2]*a[3][0]*a[4][1] - a[0][3]*a[1][4]*a[2][2]*a[3][1]*a[4][0] + a[0][4]*a[1][0]*a[2][1]*a[3][2]*a[4][3] - a[0][4]*a[1][0]*a[2][1]*a[3][3]*a[4][2] - a[0][4]*a[1][0]*a[2][2]*a[3][1]*a[4][3] + a[0][4]*a[1][0]*a[2][2]*a[3][3]*a[4][1] + a[0][4]*a[1][0]*a[2][3]*a[3][1]*a[4][2] - a[0][4]*a[1][0]*a[2][3]*a[3][2]*a[4][1] - a[0][4]*a[1][1]*a[2][0]*a[3][2]*a[4][3] + a[0][4]*a[1][1]*a[2][0]*a[3][3]*a[4][2] + a[0][4]*a[1][1]*a[2][2]*a[3][0]*a[4][3] - a[0][4]*a[1][1]*a[2][2]*a[3][3]*a[4][0] - a[0][4]*a[1][1]*a[2][3]*a[3][0]*a[4][2] + a[0][4]*a[1][1]*a[2][3]*a[3][2]*a[4][0] + a[0][4]*a[1][2]*a[2][0]*a[3][1]*a[4][3] - a[0][4]*a[1][2]*a[2][0]*a[3][3]*a[4][1] - a[0][4]*a[1][2]*a[2][1]*a[3][0]*a[4][3] + a[0][4]*a[1][2]*a[2][1]*a[3][3]*a[4][0] + a[0][4]*a[1][2]*a[2][3]*a[3][0]*a[4][1] - a[0][4]*a[1][2]*a[2][3]*a[3][1]*a[4][0] - a[0][4]*a[1][3]*a[2][0]*a[3][1]*a[4][2] + a[0][4]*a[1][3]*a[2][0]*a[3][2]*a[4][1] + a[0][4]*a[1][3]*a[2][1]*a[3][0]*a[4][2] - a[0][4]*a[1][3]*a[2][1]*a[3][2]*a[4][0] - a[0][4]*a[1][3]*a[2][2]*a[3][0]*a[4][1] + a[0][4]*a[1][3]*a[2][2]*a[3][1]*a[4][0])/denom;

  // Then inv(A)*B
  for (i=0; i<6; i++) {
    X[i] = 0;
    for (j = 0; j<6; j++) {
      X[i] += invA[j][i]*B[j];
    }
  }
}

/* Compute Solution to X = inv(A)*B   *******************************************/
void matrixJXleastSquares6by6(double A[][6], double B[6], double X[6])
{
  // First Jordan Exchange to get invA
  int i, I, j, J, m, n;
  double c;
  double invA[6][6];
  
  for (i=0; i<6; i++) {
    for (I=0; I<6; I++) {
      
      // Precompute C
      c = A[i][I]/A[i][i];
      
      for (J=0; J<6; J++){
        if (I == i && J == i)      // Pivot
          invA[i][i] = 1.00 / A[i][i];
        else if (I == i && J != i) // Row
          invA[J][i] = -A[J][i]/A[i][i];
        else if (I != i && J == i) // Column
          invA[i][I] = c;
        else                       // Off-diag
          invA[J][I] = A[J][I] - c * A[J][i];
      }
    }
      
    // Copy result back to Aupper
    // Note that this will mess /w A, so we can't use it in subsequent calculations
    for (m=0; m<6; m++) {
      for (n=0; n<6; n++) {
        A[m][n] = invA[m][n];
      }
    }
  }
    
  // Then inv(A)*B
  for (i=0; i<6; i++) {
    X[i] = 0;
    for (j = 0; j<6; j++) {
      X[i] += invA[j][i]*B[j];
    }
  }
    
}

/* Sean's GeneralMatrixInverse for 6x6 ***************************************/
void matrixGeneralInverse6by6(double A[][6], double B[], double X[])
{
  double invA[6][6];
  double maxValue, pointValue, tmpPoint;
  int pivot[6];
  int i, j, a, p, k, ptmp, pivotPoint;
  int size = 6;
  
  for (i=0; i<size; i++) pivot[i] = i;
  
  for (i=0; i<size; i++) {
    for (j=0; j<size; j++) invA[i][j] = 0.00;
  }
  
  for (k=0; k<size-1; k++) {
    p = k;
    maxValue = fabs(A[k][k]);
    // scan the lower part of this column
    for (i=k; i<size; i++) {
      pointValue = fabs(A[k][i]);
      if (pointValue > maxValue) {
        maxValue = pointValue;
        p = i;
      }
    }
    
    // swap rows if max value not in row k
    if (p != k) {
      for (a=0; a<size; a++) {
        tmpPoint = A[a][p];
        A[a][p] = A[a][k];
        A[a][k] = tmpPoint;
      }
      ptmp = pivot[k];
      pivot[k] = pivot[p];
      pivot[p] = ptmp;
    }
    
    
    // divide the lower trianglar part of column by max
    if (A[k][k] != 0) {
      for (i=k+1; i<size; i++) A[k][i] = A[k][i] / A[k][k];
    }
    // subtract multiple of column from remaining columes
    for (j=k+1; j<size; j++) {
      for (i=k+1; i<size; i++) {
        A[j][i] = A[j][i] - A[k][i]*A[j][k];
      }
    }
  }
  
  
  // now solve the inverse for each column
  for (k=0; k<size; k++) {
    pivotPoint = pivot[k];
    
    invA[pivotPoint][k] = 1.00;
    
    for (j=k; j<size; j++) {
      if (invA[pivotPoint][j] != 0) {
        for (i=j+1; i<size; i++) invA[pivotPoint][i] = invA[pivotPoint][i] - invA[pivotPoint][j]*A[j][i];
      }
    }
    
    for (j=size-1; j>=0; j--) {
      invA[pivotPoint][j] = invA[pivotPoint][j] / A[j][j];
      if (invA[pivotPoint][j] != 0) {
        for (i=0; i<j; i++) invA[pivotPoint][i] = invA[pivotPoint][i] - invA[pivotPoint][j]*A[j][i];
      }
    }
  }
  
  // Then inv(A)*B
  for (i=0; i<6; i++) {
    X[i] = 0;
    for (j = 0; j<6; j++) {
      X[i] += invA[j][i]*B[j];
    }
  }
  
}

#ifdef DEBUG_FLAG

/* DEBUG FUNCTION: Print out the contents of a 2x2 ***************************/
void debugPrint2by2(double A[][2])
{
  mexPrintf("| %0.5f | %0.5f | \n", A[0][0], A[0][1]);
  mexPrintf("| %0.5f | %0.5f | \n", A[1][0], A[1][1]);
}

/* DEBUG FUNCTION: Print out the contents of a 2x1 ***************************/
void debugPrint2by1(double A[])
{
  mexPrintf("| %0.5f | \n", A[0]);
  mexPrintf("| %0.5f | \n", A[1]);
}

/* DEBUG FUNCTION: Print out the contents of a 6x6 ***************************/
void debugPrint6by6(double A[][6])
{
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[0][0], A[0][1], A[0][2], A[0][3], A[0][4], A[0][5]);
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[1][0], A[1][1], A[1][2], A[1][3], A[1][4], A[1][5]);
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[2][0], A[2][1], A[2][2], A[2][3], A[2][4], A[2][5]);
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[3][0], A[3][1], A[3][2], A[3][3], A[3][4], A[3][5]);
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[4][0], A[4][1], A[4][2], A[4][3], A[4][4], A[4][5]);
  mexPrintf("| %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | %0.5f | \n", A[5][0], A[5][1], A[5][2], A[5][3], A[5][4], A[5][5]);
}

/* DEBUG FUNCTION: Print out the contents of a 6x1 ***************************/
void debugPrint6by1(double A[])
{
  mexPrintf("| %0.5f | \n", A[0]);
  mexPrintf("| %0.5f | \n", A[1]);
  mexPrintf("| %0.5f | \n", A[2]);
  mexPrintf("| %0.5f | \n", A[3]);
  mexPrintf("| %0.5f | \n", A[4]);
  mexPrintf("| %0.5f | \n", A[5]);
}

#endif