diff --git a/include/c3d/maths.h b/include/c3d/maths.h
index 6ab0f21..9d3533a 100644
--- a/include/c3d/maths.h
+++ b/include/c3d/maths.h
@@ -2,6 +2,7 @@
 #include "types.h"
 #include <string.h>
 #include <math.h>
+#include <float.h>
 
 // See http://tauday.com/tau-manifesto
 //#define M_TAU 6.28318530717958647693
@@ -62,6 +63,8 @@ static inline void Mtx_Copy(C3D_Mtx* out, const C3D_Mtx* in)
 void Mtx_Identity(C3D_Mtx* out);
 void Mtx_Multiply(C3D_Mtx* out, const C3D_Mtx* a, const C3D_Mtx* b);
 
+bool Mtx_Inverse(C3D_Mtx* out);
+
 void Mtx_Translate(C3D_Mtx* mtx, float x, float y, float z);
 void Mtx_Scale(C3D_Mtx* mtx, float x, float y, float z);
 void Mtx_RotateX(C3D_Mtx* mtx, float angle, bool bRightSide);
diff --git a/source/maths/mtx_inverse.c b/source/maths/mtx_inverse.c
new file mode 100644
index 0000000..625b831
--- /dev/null
+++ b/source/maths/mtx_inverse.c
@@ -0,0 +1,128 @@
+#include <c3d/maths.h>
+
+bool Mtx_Inverse(C3D_Mtx* out)
+{
+	float inv[16], det;
+	int i;
+
+	inv[0] = out->m[5]  * out->m[10] * out->m[15] - 
+	         out->m[5]  * out->m[11] * out->m[14] - 
+	         out->m[9]  * out->m[6]  * out->m[15] + 
+	         out->m[9]  * out->m[7]  * out->m[14] +
+	         out->m[13] * out->m[6]  * out->m[11] - 
+	         out->m[13] * out->m[7]  * out->m[10];
+
+	inv[4] = -out->m[4]  * out->m[10] * out->m[15] + 
+	         out->m[4]   * out->m[11] * out->m[14] + 
+	         out->m[8]   * out->m[6]  * out->m[15] - 
+	         out->m[8]   * out->m[7]  * out->m[14] - 
+	         out->m[12]  * out->m[6]  * out->m[11] + 
+	         out->m[12]  * out->m[7]  * out->m[10];
+
+	inv[8] = out->m[4]  * out->m[9]  * out->m[15] - 
+	         out->m[4]  * out->m[11] * out->m[13] - 
+	         out->m[8]  * out->m[5]  * out->m[15] + 
+	         out->m[8]  * out->m[7]  * out->m[13] + 
+	         out->m[12] * out->m[5]  * out->m[11] - 
+	         out->m[12] * out->m[7]  * out->m[9];
+
+	inv[12] = -out->m[4]  * out->m[9]  * out->m[14] + 
+	         out->m[4]   * out->m[10] * out->m[13] +
+	         out->m[8]   * out->m[5]  * out->m[14] - 
+	         out->m[8]   * out->m[6]  * out->m[13] - 
+	         out->m[12]  * out->m[5]  * out->m[10] + 
+	         out->m[12]  * out->m[6]  * out->m[9];
+
+	det = out->m[0] * inv[0] + out->m[1] * inv[4] + out->m[2] * inv[8] + out->m[3] * inv[12];
+	if (fabsf(det) < FLT_EPSILON)
+		return false;
+	
+	inv[1] = -out->m[1]  * out->m[10] * out->m[15] + 
+	         out->m[1]   * out->m[11] * out->m[14] + 
+	         out->m[9]   * out->m[2]  * out->m[15] - 
+	         out->m[9]   * out->m[3]  * out->m[14] - 
+	         out->m[13]  * out->m[2]  * out->m[11] + 
+	         out->m[13]  * out->m[3]  * out->m[10];
+
+	inv[5] = out->m[0]  * out->m[10] * out->m[15] - 
+	         out->m[0]  * out->m[11] * out->m[14] - 
+	         out->m[8]  * out->m[2]  * out->m[15] + 
+	         out->m[8]  * out->m[3]  * out->m[14] + 
+	         out->m[12] * out->m[2]  * out->m[11] - 
+	         out->m[12] * out->m[3]  * out->m[10];
+
+	inv[9] = -out->m[0]  * out->m[9]  * out->m[15] + 
+	         out->m[0]   * out->m[11] * out->m[13] + 
+	         out->m[8]   * out->m[1]  * out->m[15] - 
+	         out->m[8]   * out->m[3]  * out->m[13] - 
+	         out->m[12]  * out->m[1]  * out->m[11] + 
+	         out->m[12]  * out->m[3]  * out->m[9];
+
+	inv[13] = out->m[0]  * out->m[9]  * out->m[14] - 
+	         out->m[0]  * out->m[10] * out->m[13] - 
+	         out->m[8]  * out->m[1]  * out->m[14] + 
+	         out->m[8]  * out->m[2]  * out->m[13] + 
+	         out->m[12] * out->m[1]  * out->m[10] - 
+	         out->m[12] * out->m[2]  * out->m[9];
+
+	inv[2] = out->m[1]  * out->m[6] * out->m[15] - 
+	         out->m[1]  * out->m[7] * out->m[14] - 
+	         out->m[5]  * out->m[2] * out->m[15] + 
+	         out->m[5]  * out->m[3] * out->m[14] + 
+	         out->m[13] * out->m[2] * out->m[7]  - 
+	         out->m[13] * out->m[3] * out->m[6];
+
+	inv[6] = -out->m[0]  * out->m[6] * out->m[15] + 
+	         out->m[0]   * out->m[7] * out->m[14] + 
+	         out->m[4]   * out->m[2] * out->m[15] - 
+	         out->m[4]   * out->m[3] * out->m[14] - 
+	         out->m[12]  * out->m[2] * out->m[7]  + 
+	         out->m[12]  * out->m[3] * out->m[6];
+
+	inv[10] = out->m[0]  * out->m[5] * out->m[15] - 
+	         out->m[0]  * out->m[7] * out->m[13] - 
+	         out->m[4]  * out->m[1] * out->m[15] + 
+	         out->m[4]  * out->m[3] * out->m[13] + 
+	         out->m[12] * out->m[1] * out->m[7]  - 
+	         out->m[12] * out->m[3] * out->m[5];
+
+	inv[14] = -out->m[0]  * out->m[5] * out->m[14] + 
+	         out->m[0]   * out->m[6] * out->m[13] + 
+	         out->m[4]   * out->m[1] * out->m[14] - 
+	         out->m[4]   * out->m[2] * out->m[13] - 
+	         out->m[12]  * out->m[1] * out->m[6]  + 
+	         out->m[12]  * out->m[2] * out->m[5];
+
+	inv[3] = -out->m[1] * out->m[6] * out->m[11] + 
+	         out->m[1]  * out->m[7] * out->m[10] + 
+	         out->m[5]  * out->m[2] * out->m[11] - 
+	         out->m[5]  * out->m[3] * out->m[10] - 
+	         out->m[9]  * out->m[2] * out->m[7]  + 
+	         out->m[9]  * out->m[3] * out->m[6];
+
+	inv[7] = out->m[0] * out->m[6] * out->m[11] - 
+	         out->m[0] * out->m[7] * out->m[10] - 
+	         out->m[4] * out->m[2] * out->m[11] + 
+	         out->m[4] * out->m[3] * out->m[10] + 
+	         out->m[8] * out->m[2] * out->m[7]  - 
+	         out->m[8] * out->m[3] * out->m[6];
+
+	inv[11] = -out->m[0] * out->m[5] * out->m[11] + 
+	         out->m[0]  * out->m[7] * out->m[9]  + 
+	         out->m[4]  * out->m[1] * out->m[11] - 
+	         out->m[4]  * out->m[3] * out->m[9]  - 
+	         out->m[8]  * out->m[1] * out->m[7]  + 
+	         out->m[8]  * out->m[3] * out->m[5];
+
+	inv[15] = out->m[0] * out->m[5] * out->m[10] - 
+	         out->m[0] * out->m[6] * out->m[9]  - 
+	         out->m[4] * out->m[1] * out->m[10] + 
+	         out->m[4] * out->m[2] * out->m[9]  + 
+	         out->m[8] * out->m[1] * out->m[6]  - 
+	         out->m[8] * out->m[2] * out->m[5];
+
+	det = 1.0 / det;
+	for (i = 0; i < 16; i++)
+		out->m[i] = inv[i] * det;
+	return true;
+}