Add test to check rotation method with tiny scale.

Author: unpacklo

src/Tests/Tests/Shared/TestQuaternion.cs

@@ -460,5 +460,17 @@ public static void quaternion_rotation_from_3x3_with_negative_nonuniform_scale()
             var actualQuaternion = rotation(m);
             TestUtils.AreEqual(0.0f, angle(actualQuaternion, expectedQuaternion) % PI * 2.0f, tolerance);
         }
+
+        [TestCompiler]
+        public static void quaternion_rotation_from_3x3_with_tiny_scale()
+        {
+            const float tolerance = 1e-5f;
+            var random = new Random(561887u);
+            var expectedQuaternion = random.NextQuaternionRotation();
+            var m = new float3x3(expectedQuaternion);
+            m = mul(m, float3x3.Scale(1e-12f, 1e-12f, 1e-12f));
+            var actualQuaternion = rotation(m);
+            TestUtils.AreEqual(0.0f, angle(actualQuaternion, expectedQuaternion) % PI * 2.0f, tolerance);
+        }
     }
 }