Polar decomposition of a 3x3 matrix

Leaving [  C++ code ] to decompose a 3x3 matrix into rotation and scale/shear with polar decomposition.

(this is done through a 3x3 SVD and 3x3 Eigen decomposition).

Keywords:

• Polar decomposition of a 3x3 matrix
• 3x3 matrix SVD (Singular Value decomposition)
• Eigen decomposition (extract eigenvalues and eigenvectors) of a 3x3 matrix M (assumes symmetric matrix)

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