public Matrix4 ExtractRotation(Matrix4 m)
{
var v1 = new Vector3();
// this method does not support reflection matrices
var te = this.elements;
var me = m.elements;
var scaleX = 1 / v1.SetFromMatrixColumn(m, 0).Length();
var scaleY = 1 / v1.SetFromMatrixColumn(m, 1).Length();
var scaleZ = 1 / v1.SetFromMatrixColumn(m, 2).Length();
te[0] = me[0] * scaleX;
te[1] = me[1] * scaleX;
te[2] = me[2] * scaleX;
te[3] = 0;
te[4] = me[4] * scaleY;
te[5] = me[5] * scaleY;
te[6] = me[6] * scaleY;
te[7] = 0;
te[8] = me[8] * scaleZ;
te[9] = me[9] * scaleZ;
te[10] = me[10] * scaleZ;
te[11] = 0;
te[12] = 0;
te[13] = 0;
te[14] = 0;
te[15] = 1;
return(this);
}
public Matrix4 ExtractBasis(Vector3 xAxis, Vector3 yAxis, Vector3 zAxis)
{
xAxis.SetFromMatrixColumn(this, 0);
yAxis.SetFromMatrixColumn(this, 1);
zAxis.SetFromMatrixColumn(this, 2);
return(this);
}
