The only part of matrices I can't figure out is extracting the scale, relative to the matrice's rotation.
For global scale, you can just take the magnitude of the first 3 rows. But this is not the same thing as the matrice's scale relative to its own rotated axes.
For global scale, you can just take the magnitude of the first 3 rows. But this is not the same thing as the matrice's scale relative to its own rotated axes.