38 lines
855 B
Markdown
38 lines
855 B
Markdown
# Quaternion::FromRotationMatrix
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```cpp
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static Quaternion FromRotationMatrix(const Matrix4x4& matrix);
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```
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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。
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**参数：**
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- `matrix` - 旋转矩阵
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**返回：** 对应的四元数
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**线程安全：** ✅
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**复杂度：** O(1)
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**示例：**
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```cpp
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#include <XCEngine/Math/Quaternion.h>
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#include <XCEngine/Math/Matrix4.h>
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using namespace XCEngine::Math;
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Matrix4 rotMatrix;
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rotMatrix.m[0][0] = 1; rotMatrix.m[0][1] = 0; rotMatrix.m[0][2] = 0;
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rotMatrix.m[1][0] = 0; rotMatrix.m[1][1] = 0; rotMatrix.m[1][2] = -1;
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rotMatrix.m[2][0] = 0; rotMatrix.m[2][1] = 1; rotMatrix.m[2][2] = 0;
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Quaternion q = Quaternion::FromRotationMatrix(rotMatrix);
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```
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## 相关文档
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- [Quaternion](quaternion.md) - 返回类总览
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- [ToMatrix4x4](to-matrix4x4.md) - 转换为矩阵
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