public static Quaternion GetRotation(this Matrix4x4 matrix)
{
Quaternion quaternion = default(Quaternion);
quaternion.w = Mathf.Sqrt(Mathf.Max(0f, 1f + matrix.m00 + matrix.m11 + matrix.m22)) / 2f;
quaternion.x = Mathf.Sqrt(Mathf.Max(0f, 1f + matrix.m00 - matrix.m11 - matrix.m22)) / 2f;
quaternion.y = Mathf.Sqrt(Mathf.Max(0f, 1f - matrix.m00 + matrix.m11 - matrix.m22)) / 2f;
quaternion.z = Mathf.Sqrt(Mathf.Max(0f, 1f - matrix.m00 - matrix.m11 + matrix.m22)) / 2f;
quaternion.x = SteamVR_Utils._copysign(quaternion.x, matrix.m21 - matrix.m12);
quaternion.y = SteamVR_Utils._copysign(quaternion.y, matrix.m02 - matrix.m20);
quaternion.z = SteamVR_Utils._copysign(quaternion.z, matrix.m10 - matrix.m01);
return(quaternion);
}
