public void TestStaticFn_CreateFromQuaternion_i ()
{
Single yaw; Maths.Pi(out yaw); yaw /= (Single) 4;
Single pitch; Maths.Pi(out pitch); pitch /= (Single) (-8);
Single roll; Maths.Pi(out roll); roll /= (Single) 2;
Quaternion q; Quaternion.CreateFromYawPitchRoll(ref yaw, ref pitch, ref roll, out q);
q.Normalise();
Matrix44 m; Matrix44.CreateFromQuaternion(ref q, out m);
Matrix44 expected = new Matrix44 ();
expected.R0C0 = (Single) (-0.270598);
expected.R0C1 = (Single) 0.9238795;
expected.R0C2 = (Single) (-0.270598);
expected.R0C3 = 0;
expected.R1C0 = (Single) (-0.7071067);
expected.R1C1 = 0;
expected.R1C2 = (Single) 0.7071067;
expected.R1C3 = 0;
expected.R2C0 = (Single) 0.6532815;
expected.R2C1 = (Single) 0.3826834;
expected.R2C2 = (Single) 0.6532815;
expected.R2C3 = 0;
expected.R3C0 = 0;
expected.R3C1 = 0;
expected.R3C2 = 0;
expected.R3C3 = 1;
AssertEqualWithinReason (m, expected);
}