cglm
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proposal: matrix to quat alternative implementation
https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf
which is implemented at HandmadeMath as:
https://github.com/HandmadeMath/HandmadeMath/commit/78e6feea82836fe85769c00676fba119875e8f06
this may give better performance if it gives same results...
Any feedbacks would be awesome