Problem with Matrix3x4

What is the best way to create a matrix3x4?

I am doing

Urho3D::Matrix3x4 xTranform = Urho3D::Matrix3x4::IDENTITY;
Urho3D::Matrix3x4 yTranform = Urho3D::Matrix3x4::IDENTITY;
Urho3D::Matrix3x4 zTranform = Urho3D::Matrix3x4::IDENTITY;
Urho3D::Matrix3x4 objToWorld = Urho3D::Matrix3x4::IDENTITY;

xTranform.Decompose(Urho3D::Vector3::ZERO, rotation * Urho3D::Quaternion(-90, Urho3D::Vector3::UP), Urho3D::Vector3::ONE);
yTranform.Decompose(Urho3D::Vector3::ZERO, rotation * Urho3D::Quaternion(-90, Urho3D::Vector3::RIGHT), Urho3D::Vector3::ONE);
zTranform.Decompose(Urho3D::Vector3::ZERO, rotation, Urho3D::Vector3::ONE);
objToWorld.Decompose(position, Urho3D::Quaternion::IDENTITY, scale);

but getting error

F:\URHO-3D\Urho3d-IDE\TransformHandle\runtimehandles.cpp:780: error: binding ‘const Urho3D::Vector3’ to reference of type ‘Urho3D::Vector3&’ discards qualifiers

Decompose is “inverse” operation of creating :slight_smile:

Use constructor instead

    /// Construct from translation, rotation and uniform scale.
    Matrix3x4(const Vector3& translation, const Quaternion& rotation, float scale)