Module quaternion 

Construct that represents a quaternion.

TODO

Structs

Quaternion

A Quaternion with the format q = (q.0)i + (q.1)j + (q.2)k + (q.3) Quaternions are usually stored q = r + ai + bj + ck in this case however they are stored in the format q = ai + bj + ck + r to emphasize the fact that you can essentially use the r value as a scaler.