Rotation of a vector by a matrix and a quaternion are not equivalent #97
Description
To reproduce the bug:
m = matrix44.create_from_x_rotation(np.pi / 2.)
matrix44.apply_to_vector(m, [0., 1., 0., 1.])
# gives:
array([ 0.000000e+00, 0.000000e+00, -1.000000e+00, 1.000000e+00])And
q = quaternion.create_from_x_rotation(np.pi / 2.)
quaternion.apply_to_vector(q, [0., 1., 0., 1.])
# gives:
array([0.00000000e+00, 0.00000000e+00, 1.00000000e+00, 1.00000000e+00])When you test the equivalence of the relation in test_m44_q_equivalence, you rotate a unit vector on the x-axis by the x-axis. The vector won't move as it is aligned with the axis of rotation...
The bug is visible when you check with unit vectors on the y-axis or z-axis, like above.