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  • Roman Shapovalov's avatar
    Sign issue about quaternion_to_matrix and matrix_to_quaternion · 1b39cebe
    Roman Shapovalov authored 
    Summary:
As reported on github, `matrix_to_quaternion` was incorrect for rotations by 180˚. We resolved the sign of the component `i` based on the sign of `i*r`, assuming `r > 0`, which is untrue if `r == 0`.

This diff handles special cases and ensures we use the non-zero elements to copy the sign from.

Reviewed By: bottler

Differential Revision: D29149465

fbshipit-source-id: cd508cc31567fc37ea3463dd7e8c8e8d5d64a235
    1b39cebe
test_rotation_conversions.py 10.4 KB