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[Anton Gladky <gladky.anton@xxxxxxxxx>]

Vaclav, could you not control next few strings?

http://bazaar.launchpad.net/%7Eyade-dev/yade/wm3-eigen/annotate/head%3A/eigen/yadeMath.hpp#L151

        Quaternionr(const Eigen::Matrix<Real,3,1>c[3]) {
            Eigen::Matrix<Real,3,3> x;
x<<c[0][0],c[1][0],c[2][0],c[0][1],c[1][1],c[2][1],c[0][2],c[1][2],c[2][2];
            EigenBase q; q=x; *this=q;
        }

How do you find it? Is it ok?

Also, please, control FromAxisAngle() and Rotate() fuctions, I mean
implementation.
Thank you very much!
______________________________

Anton Gladkyy