unity
glm::mat4 matrix_r_q = glm::transpose(glm::mat4{
1.0f - 2.0f*y*y - 2.0f*z*z, 2.0f*x*y + 2.0f*w*z, 2.0f*x*z - 2.0f*w*y, 0.0f,
2.0f*x*y - 2.0f*w*z, 1.0f - 2.0f*x*x - 2.0f*z*z, 2.0f*y*z + 2.0f*w*x, 0.0f,
2.0f*x*z + 2.0f*w*y, 2.0f*y*z -2.0f*w*x, 1.0f - 2.0f*x*x - 2.0f*y*y, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
});