/// <summary> Normalizes the rotation; preserves forward </summary>
public static DualMatrix4x3 Normalize(this DualMatrix4x3 matrix)
{
return(new DualMatrix4x3(matrix.xBasis.Normalize(), matrix.yBasis.Normalize(), matrix.zBasis.Normalize(), matrix.translation));
}
/// <summary> Orthogonalizes the rotation; preserves forward then y </summary>
public static DualMatrix4x3 Orthogonalize(this DualMatrix4x3 matrix)
{
DualVector3 newXBasis = matrix.yBasis.Cross(matrix.zBasis);
return(new DualMatrix4x3(newXBasis, newXBasis.Cross(matrix.zBasis), matrix.zBasis, matrix.translation));
}