/// <summary>
/// See remarks!!
/// </summary>
/// <param name="m"></param>
/// <returns></returns>
/// <remarks>
/// return Identity if Matrix4x4 can't be inverted
/// </remarks>
public static Matrix4x4 Inverted(this in Matrix4x4 m)
{
if (Matrix4x4.Invert(m, out var inverted))
{
return(inverted);
}
return(Matrix4x4.Identity);
}
internal static Matrix4x4 Inverse(this in Matrix4x4 src)
{
if (!Matrix4x4.Invert(src, out Matrix4x4 dst))
{
Guard.IsTrue(false, nameof(src), "Matrix cannot be inverted.");
}
return(dst);
}
internal static bool IsValid(this in Matrix4x4 matrix)
{
if (!matrix._IsFinite())
{
return(false);
}
if (!Matrix4x4.Decompose(matrix, out Vector3 s, out Quaternion r, out Vector3 t))
{
return(false);
}
if (!Matrix4x4.Invert(matrix, out Matrix4x4 inverse))
{
return(false);
}
return(true);
}