void TestDecompose(V3d scale, V3d rotation, V3d translation)
{
var trafo = Trafo3d.FromComponents(scale, rotation, translation);
V3d r_d, s_d, t_d;
trafo.Decompose(out s_d, out r_d, out t_d);
var recomposed = Trafo3d.FromComponents(s_d, r_d, t_d);
Assert.IsFalse(s_d.AnyNaN || r_d.AnyNaN || t_d.AnyNaN, "something NaN");
var e_scale = (s_d.Abs() - scale.Abs()).LengthSquared;
var e_trans = (t_d - translation).LengthSquared;
Assert.True(e_scale < 1e-5, "Scale");
Assert.True(e_trans < 1e-5, "Translation");
ValidateTrafos(trafo, recomposed);
}