docs: public final void setFromMatrix(Matrix4f m1) {
  		double ww = 0.25f*(m1.m00 + m1.m11 + m1.m22 + m1.m33);
  
  		if (ww >= 0) {
  			if (ww >= EPS2) {
  				this.w =  Math.sqrt(ww);
  				ww =  0.25f/this.w;
  				this.x = (m1.m21 - m1.m12)*ww;
  				this.y = (m1.m02 - m1.m20)*ww;
  				this.z = (m1.m10 - m1.m01)*ww;
  				return;
  			} 
  		}
  		else {
  			this.w = 0;
  			this.x = 0;
  			this.y = 0;
  			this.z = 1;
  			return;
  		}
  
  		this.w = 0;
  		ww = -0.5f*(m1.m11 + m1.m22);
  
  		if (ww >= 0) {
  			if (ww >= EPS2) {
  				this.x =  Math.sqrt(ww);
  				ww = 1.0f/(2.0f*this.x);
  				this.y = m1.m10*ww;
  				this.z = m1.m20*ww;
  				return;
  			}
  		} else {
  			this.x = 0;
  			this.y = 0;
  			this.z = 1;
  			return;
  		}
  
  		this.x = 0;
  		ww = 0.5f*(1.0f - m1.m22);
  
  		if (ww >= EPS2) {
  			this.y =  Math.sqrt(ww);
  			this.z = m1.m21/(2.0f*this.y);
  			return;
  		}
  
  		this.y = 0;
  		this.z = 1;
  	}