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/svd.cs

@@ -1,4 +1,4 @@
-using System.Runtime.CompilerServices;
+using System.Runtime.CompilerServices;
 
 namespace Misaki.HighPerformance.Mathematics;
 
@@ -18,23 +18,23 @@ public static class svd
     private static void condSwap(bool c, ref float x, ref float y)
     {
         var tmp = x;
-        x = math.select(x, y, c);
-        y = math.select(y, tmp, c);
+        x = math.select(y, x, c);
+        y = math.select(tmp, y, c);
     }
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     private static void condNegSwap(bool c, ref float3 x, ref float3 y)
     {
         var tmp = -x;
-        x = math.select(x, y, c);
-        y = math.select(y, tmp, c);
+        x = math.select(y, x, c);
+        y = math.select(tmp, y, c);
     }
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     private static quaternion condNegSwapQuat(bool c, quaternion q, float4 mask)
     {
         const float halfSqrt2 = 0.707106781186548f;
-        return math.mul(q, math.select(quaternion.identity.value, mask * halfSqrt2, c));
+        return math.mul(q, math.select(mask * halfSqrt2, quaternion.identity.value, c));
     }
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -68,7 +68,7 @@ public static class svd
 
         var ch = 2f * (pq.x - pq.y); // approx cos(a/2)
         var sh = pq.z; // approx sin(a/2)
-        var r = math.select(new float4(s8, s8, s8, c8), new float4(sh, sh, sh, ch), g * sh * sh < ch * ch) * mask;
+        var r = math.select(new float4(sh, sh, sh, ch), new float4(s8, s8, s8, c8), g * sh * sh < ch * ch) * mask;
         return math.normalize(r);
     }
 
@@ -76,7 +76,7 @@ public static class svd
     private static quaternion qrGivensQuat(float2 pq, float4 mask)
     {
         var l = math.sqrt(pq.x * pq.x + pq.y * pq.y);
-        var sh = math.select(0f, pq.y, l > EPSILON_NORMAL_SQRT);
+        var sh = math.select(pq.y, 0f, l > EPSILON_NORMAL_SQRT);
         var ch = math.abs(pq.x) + math.max(l, EPSILON_NORMAL_SQRT);
         condSwap(pq.x < 0f, ref sh, ref ch);
 
@@ -148,7 +148,7 @@ public static class svd
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     private static float3 rcpsafe(float3 x, float epsilon = EPSILON_RCP) =>
-        math.select(math.rcp(x), float3.zero, math.abs(x) < epsilon);
+        math.select(float3.zero, math.rcp(x), math.abs(x) < epsilon);
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public static float3x3 svdInverse(float3x3 a)