Picking up the conversation from here. I’ll note that in researching this, shear appears to be handled using decomposition into rotation and scaling. So if your matrix includes shearing and rotation, then it will (apparently) decompose into a different rotation and a scaling component. What isn’t handled is non-uniform scaling. I’m not sure what, if any, types of shear might result in non-uniform scaling and whether this is handled correctly by the simple matrix decomposition method currently implemented by Babylon. (further convo should be added to the first link I provided).
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