Fix Forward and Backward in Matrix and Matrix3x3

#3078

Source/Engine/Core/Math/Matrix.cs

@@ -215,23 +215,9 @@ namespace FlaxEngine
         }
 
         /// <summary>
-        /// Gets or sets the forward <see cref="Float3" /> of the matrix; that is -M31, -M32, and -M33.
+        /// Gets or sets the forward <see cref="Float3" /> of the matrix; that is M31, M32, and M33.
         /// </summary>
         public Float3 Forward
-        {
-            get => new Float3(-M31, -M32, -M33);
-            set
-            {
-                M31 = -value.X;
-                M32 = -value.Y;
-                M33 = -value.Z;
-            }
-        }
-
-        /// <summary>
-        /// Gets or sets the backward <see cref="Float3" /> of the matrix; that is M31, M32, and M33.
-        /// </summary>
-        public Float3 Backward
         {
             get => new Float3(M31, M32, M33);
             set
@@ -242,6 +228,20 @@ namespace FlaxEngine
             }
         }
 
+        /// <summary>
+        /// Gets or sets the backward <see cref="Float3" /> of the matrix; that is -M31, -M32, and -M33.
+        /// </summary>
+        public Float3 Backward
+        {
+            get => new Float3(-M31, -M32, -M33);
+            set
+            {
+                M31 = -value.X;
+                M32 = -value.Y;
+                M33 = -value.Z;
+            }
+        }
+
         /// <summary>
         /// Initializes a new instance of the <see cref="Matrix" /> struct.
         /// </summary>

Source/Engine/Core/Math/Matrix.h

@@ -210,31 +210,31 @@ public:
     // Gets the forward Float3 of the matrix; that is -M31, -M32, and -M33.
     Float3 GetForward() const
     {
-        return -Float3(M31, M32, M33);
+        return Float3(M31, M32, M33);
     }
 
     // Sets the forward Float3 of the matrix; that is -M31, -M32, and -M33.
     void SetForward(const Float3& value)
-    {
-        M31 = -value.X;
-        M32 = -value.Y;
-        M33 = -value.Z;
-    }
-
-    // Gets the backward Float3 of the matrix; that is M31, M32, and M33.
-    Float3 GetBackward() const
-    {
-        return Float3(M31, M32, M33);
-    }
-
-    // Sets the backward Float3 of the matrix; that is M31, M32, and M33.
-    void SetBackward(const Float3& value)
     {
         M31 = value.X;
         M32 = value.Y;
         M33 = value.Z;
     }
 
+    // Gets the backward Float3 of the matrix; that is -M31, -M32, and -M33.
+    Float3 GetBackward() const
+    {
+        return Float3(-M31, -M32, -M33);
+    }
+
+    // Sets the backward Float3 of the matrix; that is -M31, -M32, and -M33.
+    void SetBackward(const Float3& value)
+    {
+        M31 = -value.X;
+        M32 = -value.Y;
+        M33 = -value.Z;
+    }
+
     // Gets the first row in the matrix; that is M11, M12, M13, and M14.
     Float4 GetRow1() const
     {

Source/Engine/Core/Math/Matrix3x3.cs

@@ -303,9 +303,6 @@ namespace FlaxEngine
         /// <summary>
         /// Gets a value indicating whether this instance is an identity Matrix3x3.
         /// </summary>
-        /// <value>
-        /// <c>true</c> if this instance is an identity Matrix3x3; otherwise, <c>false</c>.
-        /// </value>
         public bool IsIdentity => Equals(Identity);
 
         /// <summary>
@@ -566,19 +563,19 @@ namespace FlaxEngine
         /// </remarks>
         public bool DecomposeUniformScale(out float scale, out Quaternion rotation)
         {
-            //Scaling is the length of the rows. ( just take one row since this is a uniform matrix)
+            // Scaling is the length of the rows. ( just take one row since this is a uniform matrix)
             scale = (float)Math.Sqrt((M11 * M11) + (M12 * M12) + (M13 * M13));
             var invScale = 1f / scale;
 
-            //If any of the scaling factors are zero, then the rotation matrix can not exist.
+            // If any of the scaling factors are zero, then the rotation matrix can not exist
             if (Math.Abs(scale) < Mathf.Epsilon)
             {
                 rotation = Quaternion.Identity;
                 return false;
             }
 
-            //The rotation is the left over matrix after dividing out the scaling.
+            // The rotation is the leftover matrix after dividing out the scaling
-            Matrix3x3 rotationmatrix = new Matrix3x3
+            var rotationMatrix = new Matrix3x3
             {
                 M11 = M11 * invScale,
                 M12 = M12 * invScale,
@@ -590,8 +587,7 @@ namespace FlaxEngine
                 M32 = M32 * invScale,
                 M33 = M33 * invScale
             };
-
+            Quaternion.RotationMatrix(ref rotationMatrix, out rotation);
-            Quaternion.RotationMatrix(ref rotationmatrix, out rotation);
             return true;
         }
 

Source/Engine/Core/Math/Matrix3x3.h

@@ -175,34 +175,34 @@ public:
         M13 = -value.Z;
     }
 
-    // Gets the forward Float3 of the matrix; that is -M31, -M32, and -M33.
+    // Gets the forward Float3 of the matrix; that is M31, M32, and M33.
     Float3 GetForward() const
     {
         return -Float3(M31, M32, M33);
     }
 
-    // Sets the forward Float3 of the matrix; that is -M31, -M32, and -M33.
+    // Sets the forward Float3 of the matrix; that is M31, M32, and M33.
     void SetForward(const Float3& value)
-    {
-        M31 = -value.X;
-        M32 = -value.Y;
-        M33 = -value.Z;
-    }
-
-    // Gets the backward Float3 of the matrix; that is M31, M32, and M33.
-    Float3 GetBackward() const
-    {
-        return Float3(M31, M32, M33);
-    }
-
-    // Sets the backward Float3 of the matrix; that is M31, M32, and M33.
-    void SetBackward(const Float3& value)
     {
         M31 = value.X;
         M32 = value.Y;
         M33 = value.Z;
     }
 
+    // Gets the backward Float3 of the matrix; that is -M31, -M32, and -M33.
+    Float3 GetBackward() const
+    {
+        return Float3(-M31, -M32, -M33);
+    }
+
+    // Sets the backward Float3 of the matrix; that is -M31, -M32, and -M33.
+    void SetBackward(const Float3& value)
+    {
+        M31 = -value.X;
+        M32 = -value.Y;
+        M33 = -value.Z;
+    }
+
     // Gets the first row in the matrix; that is M11, M12 and M13.
     Float3 GetRow1() const
     {