// Correctly compute the inversion, use Vecmath as the matrix invert
// in JME does not function when scale!=1
Quat4d q = new Quat4d(rotation.x, rotation.y, rotation.z, rotation.w);
Vector3d t = new Vector3d(translation.x, translation.y, translation.z);
Matrix4d m = new Matrix4d(q,t,scale);
m.invert();
m.get(q);
m.get(t);
scale = (float)m.getScale();
rotation.set((float)q.x, (float)q.y, (float)q.z, (float)q.w);