Matrix4x4::Decompose

bool Decompose(T (&t)[3], T (&s)[3], T (&k)[3], T (&p)[4], T (&q)[4], RotationType rot_t = RotationType_Euler) const;

Decompose matrix into translation, scale, rotation and skew matrix. If the columns of the matrix are orthogonal, the output matrix should be the identity.