http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
转载于:https://www.cnblogs.com/lilei9110/p/4375777.html
http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
转载于:https://www.cnblogs.com/lilei9110/p/4375777.html