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initial version

https://github.com/toji/gl-matrix/blob/master/src/quat.js#L355-L374

you can construct a quat using fromEuler(), see here:

https://github.com/toji/gl-matrix/blob/master/src/quat.js#L355-L374

you can construct a quat directly from the rvec, using fromEuler(), see here:

https://github.com/toji/gl-matrix/blob/master/src/quat.js#L355-L374