/// <summary>
/// Decompose a matrix to translation, rotation and scale components. Matrix must consist only of translation,
/// rotation and uniform scale transformations, otherwise accurate results are not guaranteed. Applying non-uniform
/// scale guarantees results will not be accurate.
/// </summary>
/// <param name="translation">Translation offset.</param>
/// <param name="rotation">Rotation quaternion.</param>
/// <param name="scale">Scale factors.</param>
public void GetTRS(out Vector3 translation, out Quaternion rotation, out Vector3 scale)
{
Matrix3 m3x3 = ToMatrix3(this);
Matrix3 matQ;
Vector3 vecU;
m3x3.QDUDecomposition(out matQ, out scale, out vecU);
rotation = Quaternion.FromRotationMatrix(matQ);
translation = new Vector3(m03, m13, m23);
}
/// <summary>
/// Converts an orthonormal matrix to quaternion representation.
/// </summary>
/// <returns>Quaternion representing the rotation in this matrix.</returns>
public Quaternion ToQuaternion()
{
return(Quaternion.FromRotationMatrix(this));
}
