Matrix4x4 m = new Matrix4x4();
m.rotateX(MathUtils.HALF_PI);
Vec3D v = m.applyTo(new Vec3D(0, 1, 0));
assertTrue(new Vec3D(0, 0, 1).equalsWithTolerance(v, 0.00001f));
m.identity();
m.rotateY(MathUtils.HALF_PI);
v = m.applyTo(new Vec3D(1, 0, 0));
assertTrue(new Vec3D(0, 0, -1).equalsWithTolerance(v, 0.00001f));
m.identity();
m.rotateZ(MathUtils.HALF_PI);
v = m.applyTo(new Vec3D(1, 0, 0));