Opt `Quaternion` API design

[GuoLei1990]

Is your feature request related to a problem? Please describe.
A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]

For example:
❌static rotateX(quaternion: Quaternion, rad: number, out: Quaternion): void; ->✅rotateX(rad: number, out: Quaternion): void;

[GuoLei1990]

For example delete static rotateX(quaternion: Quaternion, rad: number, out: Quaternion): void; and make some adjustments:

  /**
   * Rotate this quaternion rotate around X axis.
   * @param rad - The rotation angle in radians
   * @returns This quaternion
   */
  rotateX(rad: number): Quaternion;

  /**
   * Rotate this quaternion rotate around X axis.
   * @param rad - The rotation angle in radians
   * @param out - The calculated quaternion
   * @returns This quaternion
   */
  rotateX(rad: number, out: Quaternion): Quaternion;

  rotateX(rad: number, out: Quaternion = this): Quaternion {
    const { x, y, z, w } = this;
    rad *= 0.5;
    const bx = Math.sin(rad);
    const bw = Math.cos(rad);

    out.x = x * bw + w * bx;
    out.y = y * bw + z * bx;
    out.z = z * bw - y * bx;
    out.w = w * bw - x * bx;
    return out;
  }