From 257d95b3d34b07a1f322076e4e2ff8298679bc92 Mon Sep 17 00:00:00 2001
From: Tim Taubner <tt@daedalean.ai>
Date: Thu, 31 Mar 2022 18:03:59 +0200
Subject: [PATCH] Add test case for issue 1078

---
 tests/geometry/rotation.rs | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tests/geometry/rotation.rs b/tests/geometry/rotation.rs
index 61af83d9..369b5454 100644
--- a/tests/geometry/rotation.rs
+++ b/tests/geometry/rotation.rs
@@ -28,6 +28,10 @@ fn from_rotation_matrix() {
         1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
     ));
     assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
+    // Test that issue 1078 is fixed
+    let m = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
+    assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m));
+    assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m.clone()), nalgebra::Rotation3::from_matrix(&m));
 }
 
 #[test]