public Quaternion fromAxes(Vector3f xAxis, Vector3f yAxis, Vector3f zAxis) {
        return fromRotationMatrix(xAxis.x, yAxis.x, zAxis.x, xAxis.y, yAxis.y,
                zAxis.y, xAxis.z, yAxis.z, zAxis.z);
    }
Sets the quaternion from the specified orthonormal basis.

<p>The 3 basis vectors describe the axes of a rotated coordinate system.
They are assumed to be normalized, mutually orthogonal, and in right-hand
order. No error checking is performed; the caller must ensure that the
specified vectors represent a right-handed coordinate system.

@param xAxis the X axis of the desired coordinate system (not null,
    length=1, unaffected)
@param yAxis the Y axis of the desired coordinate system (not null,
    length=1, unaffected)
@param zAxis the Z axis of the desired coordinate system (not null,
    length=1, unaffected)
@return the (modified) current instance (for chaining)
jme3-core/src/main/java/com/jme3/math/Quaternion.java