public void RotationMatrix44() { double angle = -1.6; Vector3D axis = new Vector3D(1.0, 2.0, -3.0); QuaternionD q = QuaternionD.CreateRotation(axis, angle); Matrix44D m44 = Matrix44D.CreateRotation(axis, angle); Assert.IsTrue(Matrix44D.AreNumericallyEqual(q.ToRotationMatrix44(), m44)); }