Muli3D <3> qQuaternionRotationMatrix 函数 (矩阵转四元数)

记录一下：

m_pCamera->SetLookAt( vector3( 0, 0, 0 ), vector3( 0, 1, 0 ) );

inline void SetLookAt( const vector3 &i_vPosition, const vector3 i_vUp ) 
	{ 
		matrix44 matTemp; 
		matMatrix44LookAtLH( matTemp, m_vPosition, i_vPosition, i_vUp ); 
		// Matrix -> Quaternion
		qQuaternionRotationMatrix( m_qOrientation, matTemp ); 
	}

在SetrLookAt 函数里面有 qQuaternionRotationMatrix 函数，

// Matrix -> Quaternion
quaternion &qQuaternionRotationMatrix( quaternion &o_qQuatOut, const matrix44 &i_matMatrix )
{
	// http://www.gamasutra.com/features/19980703/quaternions_01.htm
//TODO
	const float32 fDiagonal = i_matMatrix._11 + i_matMatrix._22 + i_matMatrix._33;
	if( fDiagonal > 0.0f )
	{
		float32 s = sqrtf( fDiagonal + 1.0f );
		o_qQuatOut.w = s / 2.0f;
		s &