flexible-collision-library/fcl — pull request #26 by florent-lamiraux (2014-03-05 07:15:43+00:00)
Title: Check that quaternion is normalized when converting to rotation matrix

The conversion formula used is valid only for unit quaternions.
If a user passes a zero quaternion by mistake, the resulting matrix is
identity. This is very confusing since multiplying by a Transform3f containing
0 as a quaternion results in identity Transform3f.