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

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