math: Fixed matrix contract/expand, added unit tests.
Started on transforms. Impled translate/scale, unit tests.
math: Transposed translation to match column-major format.
math: Added dot, cross, unit tests to vec.
math: Fixed sleepy naming convention error.

I was very tired when I wrote these tests. Please pardon the fact that
I named the const instances as though they were classes!

Uniformity has been restored.
math: Rotations, unit tests.