Quaternion - incorrect construction from rotation tensor
Instead of
w_ = (rotationTensor.xz() - rotationTensor.xz())/s;
Should be
w_ = (rotationTensor.xz() - rotationTensor.zx())/s;
Instead of
w_ = (rotationTensor.xz() - rotationTensor.xz())/s;
Should be
w_ = (rotationTensor.xz() - rotationTensor.zx())/s;