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.Test/UnitTest/Mathematics/TestQuaternion.cs

@@ -151,6 +151,18 @@ public class TestQuaternion
         Assert.AreEqual(1f, math.length(normalized.value), 1e-6f);
     }
 
+    [TestMethod]
+    public void TestQuaternionNormalizeSafe()
+    {
+        // Create non-unit quaternion
+        var q = new quaternion(1f, 2f, 3f, 4f);
+
+        var normalized = math.normalizesafe(q);
+
+        // Should have length 1
+        Assert.AreEqual(1f, math.length(normalized.value), 1e-6f);
+    }
+
     [TestMethod]
     public void TestMatrixFromQuaternion()
     {
@@ -240,4 +252,27 @@ public class TestQuaternion
         Assert.AreEqual(1f, rotatedUp.y, 1e-6f);
         Assert.AreEqual(0f, rotatedUp.z, 1e-6f);
     }
+
+    [TestMethod]
+    public void TestLookRotationSafe()
+    {
+        var forward = new float3(0f, 0f, -1f);
+        var up = new float3(0f, 1f, 0f);
+        var q = quaternion.LookRotationSafe(forward, up);
+
+        // Should be unit quaternion
+        Assert.AreEqual(1f, math.length(q.value), 1e-6f);
+
+        // Should rotate (0,0,1) to approximately (0,0,1)
+        var rotatedForward = math.mul(q, forward);
+        Assert.AreEqual(0f, rotatedForward.x, 1e-6f);
+        Assert.AreEqual(0f, rotatedForward.y, 1e-6f);
+        Assert.AreEqual(1f, rotatedForward.z, 1e-6f);
+
+        // Should rotate (0,1,0) to approximately (0,1,0)
+        var rotatedUp = math.mul(q, up);
+        Assert.AreEqual(0f, rotatedUp.x, 1e-6f);
+        Assert.AreEqual(1f, rotatedUp.y, 1e-6f);
+        Assert.AreEqual(0f, rotatedUp.z, 1e-6f);
+    }
 }