fix(math): correct select logic in quaternion and svd

Fixed conditional selection logic in quaternion and SVD math functions by swapping select argument order for correctness. Fixed LookRotationSafe and normalizesafe to return valid quaternions. Corrected SVD helper functions for proper value swapping and safe reciprocal. Added unit tests for matrix, reflection, projection, refraction, quaternion normalization, LookRotationSafe, and SVD operations. Incremented project version to 1.3.3. Minor formatting and using directive updates.

Misaki.HighPerformance.Mathematics/quaternion.cs

@@ -60,7 +60,7 @@ public partial struct quaternion : IEquatable<quaternion>
         var u_mask = new uint4((int)u_sign >> 31);
         var t_mask = new uint4(asint(t) >> 31);
 
-        float tr = 1.0f + abs(u.x);
+        var tr = 1.0f + abs(u.x);
 
         var sign_flips = new uint4(0x00000000, 0x80000000, 0x80000000, 0x80000000) ^ (u_mask & new uint4(0x00000000, 0x80000000, 0x00000000, 0x80000000)) ^ (t_mask & new uint4(0x80000000, 0x80000000, 0x80000000, 0x00000000));
 
@@ -428,7 +428,7 @@ public partial struct quaternion : IEquatable<quaternion>
         var mx = max(max(forwardLengthSq, upLengthSq), tLengthSq);
 
         var accept = mn > 1e-35f && mx < 1e35f && isfinite(forwardLengthSq) && isfinite(upLengthSq) && isfinite(tLengthSq);
-        return new quaternion(select(float4.unitW, new quaternion(new float3x3(t, cross(forward, t), forward)).value, accept));
+        return new quaternion(select(new quaternion(new float3x3(t, cross(forward, t), forward)).value, float4.unitW, accept));
     }
 
     /// <summary>Returns true if the quaternion is equal to a given quaternion, false otherwise.</summary>
@@ -559,7 +559,7 @@ public static partial class math
     {
         var x = q.value;
         var len = dot(x, x);
-        return quaternion(select(Mathematics.quaternion.identity.value, x * rsqrt(len), len > FLT_MIN_NORMAL));
+        return quaternion(select(x * rsqrt(len), Mathematics.quaternion.identity.value, len > FLT_MIN_NORMAL));
     }
 
     /// <summary>
@@ -574,7 +574,7 @@ public static partial class math
     {
         var x = q.value;
         var len = dot(x, x);
-        return quaternion(select(defaultvalue.value, x * rsqrt(len), len > FLT_MIN_NORMAL));
+        return quaternion(select(x * rsqrt(len), defaultvalue.value, len > FLT_MIN_NORMAL));
     }
 
     /// <summary>Returns the natural exponent of a quaternion. Assumes w is zero.</summary>
@@ -757,7 +757,7 @@ public static partial class math
     {
         i = adj(m, out var det);
         var c = abs(det) > epsilon;
-        var detInv = select(new float3(1f), rcp(det), c);
+        var detInv = select(rcp(det), new float3(1f), c);
         i = scaleMul(detInv, i);
         return c;
     }