Merge pull request #11 from Cloudef/master

Fix 'const type qualifier' warnings on GCC -Wextra
Clean up a lot of quaternion code
Merge branch 'master' of github.com:Kazade/kazmath

Conflicts:
	kazmath/quaternion.c
	kazmath/quaternion.h
Fix a bug in kmQuaternionSlerp which could cause all components to become NaN. Add kmClamp to clamp values to a range
Start implementing kmRay3 and associated functions
Implement kmVec3ProjectOnToPlane() with a test
Fix some plane naming issues
Add functions to get axis vectors from quaternions
Slight tweak to kmPlaneClassifyPoint
Fix the ray test to compile more portably
Fix a *lot* of brokenness in the mat4 and quaternion code
Rename kmQuaternionRotationAxis to kmQuaternionRotationAxisAngle to stay consistent
Reverse the rotation of RotationAxisAngle so that it rotates clockwise around the axis by default
Inline get and set methods - massive bottleneck otherwise
Replace kmMat4Inverse with a much MUCH faster implementation adapted from MESA
Make all the tests pass and add new ones
Merge branch 'master' of github.com:Kazade/kazmath
fix kmVec4Normalize
Merge pull request #12 from carloscm/master

Fix kmVec4Normalize