XCEngine/docs/api/math/quaternion/from-rotation-matrix.md

# Quaternion::FromRotationMatrix

```cpp
static Quaternion FromRotationMatrix(const Matrix4x4& matrix);
```

从 4x4 旋转矩阵创建四元数。矩阵必须是正交矩阵且行列式为 1。

**参数：**
- `matrix` - 旋转矩阵

**返回：** 对应的四元数

**线程安全：** ✅

**复杂度：** O(1)

**示例：**

```cpp
#include <XCEngine/Core/Math/Quaternion.h>
#include <XCEngine/Core/Math/Matrix4.h>

using namespace XCEngine::Math;

Matrix4 rotMatrix;
rotMatrix.m[0][0] = 1; rotMatrix.m[0][1] = 0; rotMatrix.m[0][2] = 0;
rotMatrix.m[1][0] = 0; rotMatrix.m[1][1] = 0; rotMatrix.m[1][2] = -1;
rotMatrix.m[2][0] = 0; rotMatrix.m[2][1] = 1; rotMatrix.m[2][2] = 0;

Quaternion q = Quaternion::FromRotationMatrix(rotMatrix);
```

## 相关文档

- [Quaternion](quaternion.md) - 返回类总览
- [ToMatrix4x4](to-matrix4x4.md) - 转换为矩阵