Updated Orientation class to use Philip's technique.
- Changed Orientation class to use Philip's technique for determining vectors
- updated main.cpp to take command line option to run Orientation tests
- tweaked eulerToOrthonormals() to return right vector instead of left vector
remove pitch from camera since it still breaks Orientation
Merge pull request #81 from ZappoMan/view_frustum_work

Updated Orientation class to use Philip's technique.