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		Mat3x3f get_mat3x3f() const;
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		Mat3x3f get_mat3x3f() const;
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		/// Get a 4x4 rotation matrix from a quaternion
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		/// Get a 4x4 rotation matrix from a quaternion
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		Mat4x4f get_mat4x4f() const;
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		Mat4x4f get_mat4x4f() const;
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		/// Construct a Quaternion from a rotation matrix.
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		/// Matrix must be orthogonal
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		void make_rot(const Mat4x4f& m);
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		/// Construct a Quaternion from an angle and axis of rotation.
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		/// Construct a Quaternion from an angle and axis of rotation.
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		void make_rot(float angle, const Vec3f&);
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		void make_rot(float angle, const Vec3f&);
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		/** Construct a Quaternion rotating from the direction given
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		/** Construct a Quaternion rotating from the direction given
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				by the first argument to the direction given by the second.*/
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				by the first argument to the direction given by the second.*/