decompose method

Implementation

void decompose(Vector3 translation, Quaternion rotation, Vector3 scale) {
  final v = _decomposeV ??= Vector3.zero();
  var sx = (v..setValues(_m4storage[0], _m4storage[1], _m4storage[2])).length;
  final sy =
      (v..setValues(_m4storage[4], _m4storage[5], _m4storage[6])).length;
  final sz =
      (v..setValues(_m4storage[8], _m4storage[9], _m4storage[10])).length;

  if (determinant() < 0) {
    sx = -sx;
  }

  translation._v3storage[0] = _m4storage[12];
  translation._v3storage[1] = _m4storage[13];
  translation._v3storage[2] = _m4storage[14];

  final invSX = 1.0 / sx;
  final invSY = 1.0 / sy;
  final invSZ = 1.0 / sz;

  final m = _decomposeM ??= Matrix4.zero();
  m.setFrom(this);
  m._m4storage[0] *= invSX;
  m._m4storage[1] *= invSX;
  m._m4storage[2] *= invSX;
  m._m4storage[4] *= invSY;
  m._m4storage[5] *= invSY;
  m._m4storage[6] *= invSY;
  m._m4storage[8] *= invSZ;
  m._m4storage[9] *= invSZ;
  m._m4storage[10] *= invSZ;

  final r = _decomposeR ??= Matrix3.zero();
  m.copyRotation(r);
  rotation.setFromRotation(r);

  scale._v3storage[0] = sx;
  scale._v3storage[1] = sy;
  scale._v3storage[2] = sz;
}