Abacus.DoublePrecision.QuaternionTests.TestStaticFn_CreateFromRotationMatrix_i C# (CSharp) Method

        public void TestStaticFn_CreateFromRotationMatrix_i ()
        {
            Matrix44 m = new Matrix44 ();
            m.R0C0 = (Double) (-0.9137071674171720);
            m.R0C1 = (Double) (-0.4045084971874740);
            m.R0C2 = (Double) (-0.0388855746211755);
            m.R0C3 = 0;

            m.R1C0 = (Double) (-0.0612616567188929);
            m.R1C1 = (Double)  (0.0425155562553572);
            m.R1C2 = (Double)  (0.9972158426801860);
            m.R1C3 = 0;

            m.R2C0 = (Double) (-0.4017290400587740);
            m.R2C1 = (Double)  (0.9135454576426010);
            m.R2C2 = (Double) (-0.0636276291718221);
            m.R2C3 = 0;

            m.R3C0 = 0;
            m.R3C1 = 0;
            m.R3C2 = 0;
            m.R3C3 = 1;

            Quaternion q; Quaternion.CreateFromRotationMatrix (ref m, out q);

            Quaternion expected = new Quaternion (
                (Double) (-0.163863438188094),
                (Double) (0.7106071968472370),
                (Double) (0.6722283804612080),
                (Double) (-0.127652614217613));

            AssertEqualWithinReason (q, expected);
        }