Rotation3::from_matrix hangs when a matrix with left handed coordinate system is passed in

[kalmjasper]

When passing in a matrix with a left handed coordinate system (negative determinant) the Rotation3::from_matrix deadlocks. Running this code never exits:

        let rot = Rotation3::from_matrix(&Matrix3::new(
            0.7071067811865477,
            0.7071067811865475,
            0.0,
            -0.7071067811865475,
            0.7071067811865475,
            0.0,
            0.0,
            0.0,
            -1.0,
        ));

It would be nice if the code can at least panic / raise an error in another way / not deadlock when the algorithm won't converge.

Tested on nalgebra 0.34.1