public void Decompose( out Vector3 translation, out Vector3 scale, out Quaternion orientation )
{
scale = Vector3.UnitScale;
Matrix3 rotation = Matrix3.Identity;
Vector3 axis = Vector3.Zero;
axis.x = this.m00;
axis.y = this.m10;
axis.z = this.m20;
scale.x = axis.Normalize(); // Normalize() returns the vector's length before it was normalized
rotation.m00 = axis.x;
rotation.m10 = axis.y;
rotation.m20 = axis.z;
axis.x = this.m01;
axis.y = this.m11;
axis.z = this.m21;
scale.y = axis.Normalize();
rotation.m01 = axis.x;
rotation.m11 = axis.y;
rotation.m21 = axis.z;
axis.x = this.m02;
axis.y = this.m12;
axis.z = this.m22;
scale.z = axis.Normalize();
rotation.m02 = axis.x;
rotation.m12 = axis.y;
rotation.m22 = axis.z;
orientation = Quaternion.FromRotationMatrix( rotation );
translation = this.Translation;
}
