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#ifndef __CGLA_QUATERNION_H__
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#ifndef __CGLA_QUATERNION_H__
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#define __CGLA_QUATERNION_H__
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#define __CGLA_QUATERNION_H__
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#include "CGLA/Vec3f.h"
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#include "Vec3f.h"
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#include "CGLA/Vec4f.h"
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#include "Vec4f.h"
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#include "CGLA/Mat3x3f.h"
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#include "Mat3x3f.h"
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#include "CGLA/Mat4x4f.h"
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#include "Mat4x4f.h"
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namespace CGLA {
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namespace CGLA {
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	/** A Quaterinion class. Quaternions are algebraic entities
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	/** A Quaterinion class. Quaternions are algebraic entities
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			useful for rotation. */
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			useful for rotation. */
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		/// Scalar part of quaternion
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		/// Scalar part of quaternion
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		float qw;
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		float qw;
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		/// Construct 0 quaternion
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		/// Construct 0 quaternion
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		Quaternion(): qw(1) {}
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		Quaternion(): qw(CGLA_INIT_VALUE) {}
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		/// Construct quaternion from vector and scalar
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		/// Construct quaternion from vector and scalar
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		Quaternion(const Vec3f _qv, float _qw=1) :
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		Quaternion(const Vec3f _qv, float _qw=1) :
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			qv(_qv) , qw(_qw) {}
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			qv(_qv) , qw(_qw) {}
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