%x = (-d*det([u_y|u_z|u_d]) - det([u_y|u_z|w]) / det([u_y|u_z|u_x])
%y = (-d*det([u_x|u_z|u_d]) - det([u_x|u_z|w]) / det([u_x|u_z|u_y])
%z = (-d*det([u_x|u_y|u_d]) - det([u_x|u_y|w]) / det([u_x|u_y|u_z])