@GarbageFree
    public static Quaternion matrixToQuaternion(Matrix4f m, Quaternion dest) {
        if (dest == null) {
            dest = new Quaternion();
        }
        float tr = m.m00 + m.m11 + m.m22;

        if (tr > 0) {
            float S = (float) Math.sqrt(tr + 1.0) * 2; // S=4*qw
            dest.w = 0.25f * S;
            dest.x = (m.m12 - m.m21) / S;
            dest.y = (m.m20 - m.m02) / S;
            dest.z = (m.m01 - m.m10) / S;
        } else if ((m.m00 > m.m11) & (m.m00 > m.m22)) {
            float S = (float) Math.sqrt(1.0 + m.m00 - m.m11 - m.m22) * 2; // S=4*qx
            dest.w = (m.m12 - m.m21) / S;
            dest.x = 0.25f * S;
            dest.y = (m.m10 + m.m01) / S;
            dest.z = (m.m20 + m.m02) / S;
        } else if (m.m11 > m.m22) {
            float S = (float) Math.sqrt(1.0 + m.m11 - m.m00 - m.m22) * 2; // S=4*qy
            dest.w = (m.m20 - m.m02) / S;
            dest.x = (m.m10 + m.m01) / S;
            dest.y = 0.25f * S;
            dest.z = (m.m21 + m.m12) / S;
        } else {
            float S = (float) Math.sqrt(1.0 + m.m22 - m.m00 - m.m11) * 2; // S=4*qz
            dest.w = (m.m01 - m.m10) / S;
            dest.x = (m.m20 + m.m02) / S;
            dest.y = (m.m21 + m.m12) / S;
            dest.z = 0.25f * S;
        }

        return dest;
    }

    @GarbageFree
    public static Vector3f matrixToScale(Matrix4f m, Vector3f dest) {
        if (dest == null) {
            dest = new Vector3f();
        }
        dest.x = (float)Math.sqrt(m.m00*m.m00 + m.m01*m.m01 + m.m02*m.m02);
        dest.y = (float)Math.sqrt(m.m10*m.m10 + m.m11*m.m11 + m.m12*m.m12);
        dest.z = (float)Math.sqrt(m.m20*m.m20 + m.m21*m.m21 + m.m22*m.m22);

        return dest;
    }

    @GarbageFree
    public static Vector3f matrixToTranslation(Matrix4f m, Vector3f dest) {
        if (dest == null) {
            dest = new Vector3f();
        }

        dest.x = m.m30;
        dest.y = m.m31;
        dest.z = m.m32;

        return dest;
    }