D3DXQuaternionToAxisAngle(); // 四元数 转 绕轴旋转D3DXQuaternionRotationAxis(); // 绕轴旋转 转 四元数D3DXQuaternionRotationMatrix(); //旋转矩阵 转 四元数D3DXQuaternionRotationYawPitchRoll(); //yawpitchroll 转四元数