Matrix m = new Matrix(this.getLocalMatrix());
// m.orthonormalizeLocal();
//can we use 3x3 otrhogonalization on a 4x4 matrix just using the middle part?
//-seems yes
m.orthonormalizeUpperLeft();
//Re-Apply scale because its removed at orthonormalization
// m.mult(Matrix.getScalingMatrix(Vector3D.ZERO_VECTOR, scale.x, scale.y, scale.z), m);
m.scale(scale);
//Automatically inverts() the localMatrix, so exact inverse again! :)
this.setLocalMatrix(m);