docs: update math API docs

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

@@ -0,0 +1,37 @@
+# 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/Math/Quaternion.h>
+#include <XCEngine/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