pub fn decompose(m: Mat4) -> ([f32; 3], Quat, [f32; 3])Expand description
Decompose a column-major affine matrix into translation, a unit rotation
quaternion, and per-axis scale: the inverse of compose for a
positive-scale T * R * S matrix. Scale is recovered as the length of each
rotation column; a zero-length column yields a zero scale axis and the
rotation falls back to identity for that axis.