/// <summary>
/// Set position,rotation and scale from the transform matrix
/// This does not support mirroring, so every component of scale has to be > 0
/// </summary>
/// <param name="transform"></param>
public void SetPropertiesFromMatrix(Matrix4x4 transform)
{
position = transform.Translation;
// extract scale and create a rotation matrix
Vector3 cx = transform.Col(0);
Vector3 cy = transform.Col(1);
Vector3 cz = transform.Col(2);
scale.x = cx.Length;
scale.y = cy.Length;
scale.z = cz.Length;
Matrix4x4 rotationMatrix = Matrix4x4.Identity();
rotationMatrix.SetCol(0, cx/scale.x);
rotationMatrix.SetCol(1, cy/scale.y);
rotationMatrix.SetCol(2, cz/scale.z);
rotation.FromMatrix(rotationMatrix);
}