4x4 trans matrix to pos, scale, orient

public Transformation(Matrix transformation) {
        this.pos = transformation.getColumn(3).removeDimensionFromVec(3);

        var rotScaleMatrix = transformation.getSubMatrix(0,0,2,2);

        List<Vector> rotCols = new ArrayList<>();
        var scale = new Vector(1,1,1);
        for(int i = 0;i < 3;i++) {
            var v = rotScaleMatrix.getColumn(i);
            scale.setDataElement(i, v.getNorm());
            v.normalise();
            rotCols.add(v);
        }

        var rotMatrix = new Matrix(rotCols);
        this.orientation = new Quaternion(rotMatrix);
        this.orientation.normalise();
        this.scale = scale;
    }