Integrate Refactor solver sources and dual MSVC CMake builds

tests/unit/math/vector3_test.cpp

@@ -112,5 +112,19 @@ TEST(Vector3, RejectsZeroAndNonfiniteNormalization) {
   EXPECT_FALSE(Vector3(0.0, not_a_number, 0.0).Normalized().has_value());
 }
 
+
+TEST(Vector3, RightHandedFrameMatchesIndependentCoordinateTransform) {
+  const Vector3 x_axis{0.0, 1.0, 0.0};
+  const Vector3 y_axis{0.0, 0.0, 1.0};
+  const Vector3 z_axis = x_axis.Cross(y_axis);
+  const Vector3 global{2.0, -3.0, 4.0};
+  EXPECT_DOUBLE_EQ(x_axis.Dot(global), -3.0);
+  EXPECT_DOUBLE_EQ(y_axis.Dot(global), 4.0);
+  EXPECT_DOUBLE_EQ(z_axis.Dot(global), 2.0);
+  const Vector3 recovered = x_axis * -3.0 + y_axis * 4.0 + z_axis * 2.0;
+  EXPECT_TRUE(recovered == global);
+  EXPECT_DOUBLE_EQ(x_axis.Dot(y_axis.Cross(z_axis)), 1.0);
+}
+
 }  // namespace
 }  // namespace fesa