fix handling unnormalized axis for (Pose)RotationAxisAngle

Author: Wumpf

crates/store/re_types/src/components/pose_rotation_axis_angle_ext.rs

@@ -17,6 +17,11 @@ impl PoseRotationAxisAngle {
 impl From<PoseRotationAxisAngle> for glam::Affine3A {
     #[inline]
     fn from(val: PoseRotationAxisAngle) -> Self {
-        Self::from_axis_angle(val.0.axis.into(), val.0.angle.radians())
+        if let Some(normalized) = glam::Vec3::from(val.0.axis).try_normalize() {
+            Self::from_axis_angle(normalized, val.0.angle.radians())
+        } else {
+            // If the axis is zero length, we can't normalize it, so we just use the identity rotation.
+            Self::IDENTITY
+        }
     }
 }

crates/store/re_types/src/components/rotation_axis_angle_ext.rs

@@ -17,6 +17,11 @@ impl RotationAxisAngle {
 impl From<RotationAxisAngle> for glam::Affine3A {
     #[inline]
     fn from(val: RotationAxisAngle) -> Self {
-        Self::from_axis_angle(val.0.axis.into(), val.0.angle.radians())
+        if let Some(normalized) = glam::Vec3::from(val.0.axis).try_normalize() {
+            Self::from_axis_angle(normalized, val.0.angle.radians())
+        } else {
+            // If the axis is zero length, we can't normalize it, so we just use the identity rotation.
+            Self::IDENTITY
+        }
     }
 }