BLI_math: ensure non-negative matrices for mat3_to_quat calculations

Making the callers responsible for this isn't practical as matrices are
often passed indirectly to a functions such as mat3_to_axis_angle,
BKE_object_mat3_to_rot & BKE_pchan_mat3_to_rot.
Or the matrix is combined from other matrices which could be negative.

Given quaternions calculated from negative matrices are completely
invalid and checking only needs to negate matrices with a negative
determinant, move the check into mat3_to_quat and related functions.

Add mat3_normalized_to_quat_fast for cases no error checking on the
input matrix is needed such as blending rotations.

source/blender/blenlib/BLI_math_matrix.h

@@ -454,8 +454,20 @@ void rescale_m4(float mat[4][4], const float scale[3]);
  */
 void transform_pivot_set_m4(float mat[4][4], const float pivot[3]);
 
+/**
+ * \param rot: A 3x3 rotation matrix, normalized never negative.
+ */
 void mat4_to_rot(float rot[3][3], const float wmat[4][4]);
+
+/**
+ * \param rot: A 3x3 rotation matrix, normalized never negative.
+ * \param size: The scale, negative if `mat3` is negative.
+ */
 void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3]);
+/**
+ * \param rot: A 3x3 rotation matrix, normalized never negative.
+ * \param size: The scale, negative if `mat3` is negative.
+ */
 void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], const float wmat[4][4]);
 void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4]);
 void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4]);