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How to caculate the Inverse-Transpose of a ModelView matrix ?

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I've encountered a problem in writting the shader of OpenGL 2.0. The following is the header of the shader: attribute highp vec3 inVertex; attribute highp vec3 inNormal; attribute highp vec2 inTexCoord; uniform highp mat4 MVPMatrix; uniform highp mat4 ModelView; uniform highp mat3 ModelViewIT; So, I need to input vertex/normal/uv of the mesh, and the MVP matrix of the mesh in the scene. And, the "ModelView" uniform is easy to get, it is just: MdelView matrix = Translation matrix * Rotation matrix. But, I don't know how to get the "ModelViewIT" uniform. ModelViewIT means: "Inverse-Transpose of the ModelView matrix". So could anyone tell me how to calculate it out ? Thanks a lot!

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MdelView matrix = Translation * Rotation

Then

MdelView matrixIT = Inverse(Rotation) * Inverse(Translation)

Such that

Identiy = matrix * matrixIT;

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