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Matrix -> Quaternion conversion

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I understand how quaternions can be interpolated, so I was wondering how one would convert a rotation matrix into quaternion. It seems that there can''t be a general formula, since not every transformation matrix can be represented by a quaternion. A pointer to a document or faq would be nice. I''m not trying to write a program, I''m just curious.

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Use it. Love it.

"matrix quaternion conversion" gave me this as the first entry:


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