when 1
          q[1] = q[1].abs * Quaternion.signnz(rotation_matrix[2][0] - rotation_matrix[0][2])
          q[0] = q[0].abs * Quaternion.signnz((rotation_matrix[1][0] + rotation_matrix[0][1]) * q[1])
          q[2] = q[2].abs * Quaternion.signnz((rotation_matrix[2][1] + rotation_matrix[1][2]) * q[1])