warp.transform\_decompose
=========================

.. function:: warp._src.lang.transform_decompose(m: Matrix[float32,Literal[4],Literal[4]]) -> None

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Decompose a 4x4 transformation matrix into 3D position, quaternion orientation, and 3D scale.
   
   .. math::
       M = \begin{bmatrix}
       s_x R_{00} & s_y R_{01} & s_z R_{02} & p_x \\
       s_x R_{10} & s_y R_{11} & s_z R_{12} & p_y \\
       s_x R_{20} & s_y R_{21} & s_z R_{22} & p_z \\
       0 & 0 & 0 & 1
       \end{bmatrix}
   
   Where:
   
   * :math:`R` is the 3x3 rotation matrix extracted from the input matrix after removing scale.
   * :math:`p` is the 3D position vector :math:`[p_x, p_y, p_z]` extracted from the input matrix.
   * :math:`s` is the 3D scale vector :math:`[s_x, s_y, s_z]` extracted from the input matrix.
   
   :param m: The matrix to decompose.
   :type m: Matrix[Float, 4, 4]
   
   :returns: A tuple containing the position vector, quaternion orientation, and scale vector.
   :rtype: Tuple[Vector[Float, 3], Quaternion[Float], Vector[Float, 3]]