From 5fe28a331f492dab25c300d5d3e63c68eee51b9f Mon Sep 17 00:00:00 2001
From: Wolfgang Draxinger <Wolfgang.Draxinger@draxit.de>
Date: Tue, 29 Jan 2013 02:34:32 +0100
Subject: minor fix in quat_from_mat4x4 with huge impact

---
 linmath.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/linmath.h b/linmath.h
index 1a87ca9..deb5837 100644
--- a/linmath.h
+++ b/linmath.h
@@ -440,14 +440,15 @@ static inline void quat_from_mat4x4(quat q, mat4x4 M)
 	r = sqrtf(1. + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] );
 
 	if(r < 1e-6) {
-		mat4x4_identity(M);
+		q[0] = 1.;
+		q[1] = q[2] = q[3] = 0.;
 		return;
 	}
 
-	q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.*r);
 	q[0] = r/2.;
 	q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.*r);
 	q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.*r);
+	q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.*r);
 }
 
 #endif
-- 
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