/// <summary>
/// Constructs a quaternion from a rotation matrix.
/// </summary>
/// <param name="r">Rotation matrix to create the quaternion from.</param>
/// <param name="q">Quaternion based on the rotation matrix.</param>
public static void CreateFromRotationMatrix(ref Matrix r, out Quaternion q)
{
Matrix3x3 downsizedMatrix;
Matrix3x3.CreateFromMatrix(ref r, out downsizedMatrix);
CreateFromRotationMatrix(ref downsizedMatrix, out q);
}
