Matrix to Quaternion function requires quaternion standardization at the end. #1703
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Dec 21, 2023
Summary: An OSS user has pointed out in #1703 that the output of matrix_to_quaternion (in that file) can be non standardized. This diff solves the issue by adding a line of standardize at the end of the function Reviewed By: bottler Differential Revision: D52368721 fbshipit-source-id: c8d0426307fcdb7fd165e032572382d5ae360cde
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The current implementation handles the near zeros value really well by computing with the largest denominator. However, this will leave the
wto be not always positive. Though it will not affect general operation like multiplication, it can result in unexpected behaviors in quaternion blendings.Moreover, this only happens when the trace is near zero making it more mysterious and unpredictable. I am currently implenting a dual quaternion blending function with it, and it really takes me several good days to find out the reason.
So I suggest add a line of standardize at the end.
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