docs: public static boolean enforceAbsoluteQuadraticConstraints( DMatrix4x4 Q , boolean zeroCenter, boolean zeroSkew ) {
  
  		// see if it's potentially just off by a sign
  		if( Q.a33 < 0 )
  			CommonOps_DDF4.scale(-1,Q);
  
  		DecomposeAbsoluteDualQuadratic alg = new DecomposeAbsoluteDualQuadratic();
  		if( !alg.decompose(Q) )
  			return false;
  
  		// force positive definite
  		DMatrix3x3 k = alg.getK();
  
  		if( zeroCenter ) {
  			k.a13 = k.a23 = 0;
  		}
  
  		if( zeroSkew ) {
  			k.a12 = 0;
  		}
  
  		alg.recomputeQ(Q);
  		return true;
  	}