reformatted to same style
removed unnecessary castings, removed unnecessary methods for vector operations changed to VectorUtil instead
fixed isIdentity method, deprecated isEmpty method (quaternion doesn't have such a property + method do same thing as isIdentity), new setIdentity method, default constructor sets this quaternion to identity, new fromAxis method/costructor
new method for vector multiplication, new copy constructor
Quaternion.java : fixed not clear assignment
Merge remote-tracking branch 'remotes/hharrison/pr743'
VectorUtil, Quaternion: Use 'final' qualifier if possible