Implementation of a simple C++ quaternion class called Squat . Popularized by a seminal paper by Ken Shoemake, a quaternion represents a rotation about an axis. Squats can be concatenated together via the * and *= operators and converted back and forth between transformation matrices. Implementation also includes a wonderful 3D vector macro library by Don Hatch. -Implementation of a simple C++ quaternion class called　Squat . Popularized by a seminal paper by Ken Shoemake, a quaternion represents a rotation about an axis.　Squats can be concatenated together via the * and *= operators and converted back and forth between transformation matrices. Implementation also includes a wonderful 3D vector macro library by Don Hatch.