First header
Merge branch 'master'
Implementation and first test.
On the back burner.  We need quaternions.
Merge branch 'master' into Rotation

Conflicts:
	GeometryTests/GeometryTests.vcxproj.filters
Quaternion-based implementation
F*cking Visual Studio doesn't work
Tests
Test done
Readying
After eggrobin's review
Merge pull request #32 from pleroy/Rotation

Rotation