code: public Vector3d origin(Vector3d origin) {
          double a = m00 * m11 - m01 * m10;
          double b = m00 * m12 - m02 * m10;
          double d = m01 * m12 - m02 * m11;
          double g = m20 * m31 - m21 * m30;
          double h = m20 * m32 - m22 * m30;
          double j = m21 * m32 - m22 * m31;
          origin.x = -m10 * j + m11 * h - m12 * g;
          origin.y =  m00 * j - m01 * h + m02 * g;
          origin.z = -m30 * d + m31 * b - m32 * a;
          return origin;
      }
docs: /* (non-Javadoc)
  @see org.joml.Matrix4x3dc#origin(org.joml.Vector3d)