public void ShouldComposeRotationMatrix()
{
var quaternion = new Quaternion {
X = 3, Y = 4, Z = 2, W = 0.5
};
var vector = new Vector3D {
};
var expected = Matrix3D.Identity;
expected.Rotate(quaternion);
GeometryAssert.AreEqual(expected, vector.ComposeTransform(ref quaternion));
GeometryAssert.AreEqual(expected, quaternion.ComposeTransform(ref vector));
}