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Simplify several functions by replacing the body with one-line calls to theconstructor. Furthermore, pass Quaternion arguments by reference to avoidexcessive copying.
Quaternion needs the definition of a matrix. Include it.
Fix conversion of impure rotation matrices to quaternions
The test for the largest element in the matrix diagonal was reversed, whichresulted in taking the square root of a negative value for matrices withdeterminant less than zero.
Add "const" to non-mutating Vector, Quat methods
Also adds some clarifying documentation, since the quat->euler axisconventions are a bit surprising.
First commit