diff --git a/src/lib/matrix/matrix/helper_functions.hpp b/src/lib/matrix/matrix/helper_functions.hpp
index fa4e5c84ca9a..7426fdcf5754 100644
--- a/src/lib/matrix/matrix/helper_functions.hpp
+++ b/src/lib/matrix/matrix/helper_functions.hpp
@@ -152,10 +152,16 @@ Type unwrap_pi(const Type last_angle, const Type new_angle)
 	return unwrap(last_angle, new_angle, Type(-M_PI), Type(M_PI));
 }
 
+/**
+ * Type-safe sign/signum function
+ *
+ * @param[in] val Number to take the sign from
+ * @return -1 if val < 0, 0 if val == 0, 1 if val > 0
+ */
 template<typename T>
 int sign(T val)
 {
-	return (T(FLT_EPSILON) < val) - (val < T(FLT_EPSILON));
+	return (T(0) < val) - (val < T(0));
 }
 
 } // namespace matrix
diff --git a/src/lib/matrix/test/MatrixHelperTest.cpp b/src/lib/matrix/test/MatrixHelperTest.cpp
index 15da124aa17a..ec3062ff2f5a 100644
--- a/src/lib/matrix/test/MatrixHelperTest.cpp
+++ b/src/lib/matrix/test/MatrixHelperTest.cpp
@@ -36,6 +36,24 @@
 
 using namespace matrix;
 
+TEST(MatrixHelperTest, SignFloat)
+{
+	EXPECT_FLOAT_EQ(sign(-100.f), -1.f);
+	EXPECT_FLOAT_EQ(sign(-FLT_EPSILON), -1.f);
+	EXPECT_FLOAT_EQ(sign(0.f), 0.f);
+	EXPECT_FLOAT_EQ(sign(FLT_EPSILON), 1.f);
+	EXPECT_FLOAT_EQ(sign(100.f), 1.f);
+}
+
+TEST(MatrixHelperTest, SignInt)
+{
+	EXPECT_FLOAT_EQ(sign(-100), -1);
+	EXPECT_FLOAT_EQ(sign(-1), -1);
+	EXPECT_FLOAT_EQ(sign(0), 0);
+	EXPECT_FLOAT_EQ(sign(1), 1);
+	EXPECT_FLOAT_EQ(sign(100), 1);
+}
+
 TEST(MatrixHelperTest, Helper)
 {
 	// general wraps