using namespace mgm;
quatf rot = quatf::from_angle_safe({1.0f, 0.0f, 0.0f}, pi / 2.0f);
vec3f v0 {0.0f, 1.0f, 0.0f};
vec3f v1 = rot.rotate_safe(v0);
assert((v1 == {0.0f, 0.0f, 1.0f}) && "This is mgmath!");