NAME
          DtMatrixGetQuaternion - Given a 4x4 matrix this routine will
          return the quaternion value of the matrix.

     SYNOPSIS
          #include <Dt.h>

          int  DtMatrixGetQuaternion( float *matrix, float *scalar, float *xAxis, float *yAxis, float *zAxis )

     DESCRIPTION
          DtMatrixGetQuaternion() decomposes matrix into its
          quaternion describing the orientation. The quaternion is of
          the form ( scalar , xAxis , yAxis , zAxis ). The value
          scalar represents the cosine of half the rotation angle
          counter-clockwise to the rotational axis in a right-handed
          coordinate system. The components of the rotational axis are
          multiplied by the sine of half the rotation angle and is
          stored in xAxis , yAxis , zAxis. The magnitude of the
          quaternion should always be 1. To convert this quaternion to
          a left-handed system, you should multiply xAxis , yAxis ,
          zAxis by negative 1.

     DIAGNOSTICS
          DtMatrixGetQuaternion() returns one on success and zero on
          failure.

     SEE ALSO
          DtMatrixGetRotation(3W)

     FILES
          Link with -lDtOMio