Fix an error in the matrix.decompose when the determinant is negative

[cptbtptpbcptdtptp]

Demo:

import { Matrix, Quaternion, Vector3, WebGLEngine } from "@galacean/engine";

WebGLEngine.create({ canvas: "canvas" }).then((engine) => {
  engine.canvas.resizeByClientSize();

  const scale = new Vector3(-1, 1, 1);
  const quaternion = new Quaternion();
  const position = new Vector3();
  const matrix = new Matrix();
  Matrix.affineTransformation(scale, quaternion, position, matrix);
  console.log("matrix before", JSON.stringify(matrix.elements));
  matrix.decompose(position, quaternion, scale);
  Matrix.affineTransformation(scale, quaternion, position, matrix);
  console.log("matrix after", JSON.stringify(matrix.elements));
});

[codecov]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (e591a10) 65.09% compared to head (f52905b) 65.04%.

❗ Current head f52905b differs from pull request most recent head 03f8bc5. Consider uploading reports for the commit 03f8bc5 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1822      +/-   ##
==========================================
- Coverage   65.09%   65.04%   -0.06%     
==========================================
  Files         473      473              
  Lines       23750    23749       -1     
  Branches     3368     3366       -2     
==========================================
- Hits        15461    15448      -13     
- Misses       7094     7105      +11     
- Partials     1195     1196       +1     

Files	Coverage Δ
packages/core/src/Entity.ts	84.49% <100.00%> (+0.19%)	⬆️
packages/math/src/Matrix.ts	86.87% <75.00%> (+0.18%)	⬆️

... and 5 files with indirect coverage changes

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