void HrTransform::DecomposeWorldOriention(const Quaternion& orientation)
{
m_worldOriention = HrMath::Normalize(orientation);
Matrix4 matOrientation = HrMath::ToMatrix(m_worldOriention);
Vector4 vRight = matOrientation.Row(0);
m_vWorldRight = Vector3(vRight.x(), vRight.y(), vRight.z());
Vector4 vUp = matOrientation.Row(1);
m_vWorldUp = Vector3(vUp.x(), vUp.y(), vUp.z());
Vector4 vForward = matOrientation.Row(2);
m_vWorldForward = Vector3(vForward.x(), vForward.y(), vForward.z());
}
float Matrix4::Determinant() const
{
// The determinant is the dot product of:
// the first row and the first row of cofactors
// which is the first col of the adjoint matrix
Matrix4 cofactor;
Cofactor( &cofactor );
Vector3F rowOfCofactor, rowOfThis;
cofactor.Row( 0, &rowOfCofactor );
Row( 0, &rowOfThis );
return DotProduct( rowOfCofactor, rowOfThis );
}