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)); }