+ handle rotation matrix ambiguities #20
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Just rewrote the function to explicitly make sure the built rotation matrix is also right handed. |
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While converting some benchmarks we were finding some issues with quadric surface rotations. Apparently, in the case of 45 degrees rotation and degenerate eigenvalues of the coefficient matrix numpy does not know how to unambiguously order the eigenvectors in the rotation matrix. @davidepettinari and I think we have found a solution to this and we added a function able to reorder the rotation matrix according to two criteria. First the eigenvectors are ordered so their element with the highest absolute value stand on the diagonal. Then, if there is still ambiguity, it orders the ambiguous eigenvectors left in order to achieve orthogonality.
We went from this (not meshable):
To this (meshable):