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+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// Restrictions:
+///		By making use of the Software for military purposes, you choose to make
+///		a Bunny unhappy.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtx_quaternion
+/// @file glm/gtx/quaternion.inl
+/// @date 2005-12-21 / 2011-06-07
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#include <limits>
+#include "../gtc/constants.hpp"
+
+namespace glm
+{
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec3<T, P> cross
+	(
+		tvec3<T, P> const & v,
+		tquat<T, P> const & q
+	)
+	{
+		return inverse(q) * v;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec3<T, P> cross
+	(
+		tquat<T, P> const & q,
+		tvec3<T, P> const & v
+	)
+	{
+		return q * v;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> squad
+	(
+		tquat<T, P> const & q1,
+		tquat<T, P> const & q2,
+		tquat<T, P> const & s1,
+		tquat<T, P> const & s2,
+		T const & h)
+	{
+		return mix(mix(q1, q2, h), mix(s1, s2, h), static_cast<T>(2) * (static_cast<T>(1) - h) * h);
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> intermediate
+	(
+		tquat<T, P> const & prev,
+		tquat<T, P> const & curr,
+		tquat<T, P> const & next
+	)
+	{
+		tquat<T, P> invQuat = inverse(curr);
+		return exp((log(next + invQuat) + log(prev + invQuat)) / static_cast<T>(-4)) * curr;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> exp
+	(
+		tquat<T, P> const & q
+	)
+	{
+		tvec3<T, P> u(q.x, q.y, q.z);
+		T Angle = glm::length(u);
+		if (Angle < epsilon<T>())
+			return tquat<T, P>();
+
+		tvec3<T, P> v(u / Angle);
+		return tquat<T, P>(cos(Angle), sin(Angle) * v);
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> log
+	(
+		tquat<T, P> const & q
+	)
+	{
+		tvec3<T, P> u(q.x, q.y, q.z);
+		T Vec3Len = length(u);
+
+		if (Vec3Len < epsilon<T>())
+		{
+			if(q.w > static_cast<T>(0))
+				return tquat<T, P>(log(q.w), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0));
+			else if(q.w < static_cast<T>(0))
+				return tquat<T, P>(log(-q.w), pi<T>(), static_cast<T>(0), static_cast<T>(0));
+			else
+				return tquat<T, P>(std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity());
+		}
+		else
+		{
+			T QuatLen = sqrt(Vec3Len * Vec3Len + q.w * q.w);
+			T t = atan(Vec3Len, T(q.w)) / Vec3Len;
+			return tquat<T, P>(log(QuatLen), t * q.x, t * q.y, t * q.z);
+		}
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> pow
+	(
+		tquat<T, P> const & x,
+		T const & y
+	)
+	{
+		if(abs(x.w) > (static_cast<T>(1) - epsilon<T>()))
+			return x;
+		T Angle = acos(y);
+		T NewAngle = Angle * y;
+		T Div = sin(NewAngle) / sin(Angle);
+		return tquat<T, P>(
+			cos(NewAngle),
+			x.x * Div,
+			x.y * Div,
+			x.z * Div);
+	}
+
+	//template <typename T, precision P>
+	//GLM_FUNC_QUALIFIER tquat<T, P> sqrt
+	//(
+	//	tquat<T, P> const & q
+	//)
+	//{
+	//	T q0 = static_cast<T>(1) - dot(q, q);
+	//	return T(2) * (T(1) + q0) * q;
+	//}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec3<T, P> rotate
+	(
+		tquat<T, P> const & q,
+		tvec3<T, P> const & v
+	)
+	{
+		return q * v;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec4<T, P> rotate
+	(
+		tquat<T, P> const & q,
+		tvec4<T, P> const & v
+	)
+	{
+		return q * v;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER T extractRealComponent
+	(
+		tquat<T, P> const & q
+	)
+	{
+		T w = static_cast<T>(1) - q.x * q.x - q.y * q.y - q.z * q.z;
+		if(w < T(0))
+			return T(0);
+		else
+			return -sqrt(w);
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER T length2
+	(
+		tquat<T, P> const & q
+	)
+	{
+		return q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> shortMix
+	(
+		tquat<T, P> const & x,
+		tquat<T, P> const & y,
+		T const & a
+	)
+	{
+		if(a <= static_cast<T>(0)) return x;
+		if(a >= static_cast<T>(1)) return y;
+
+		T fCos = dot(x, y);
+		tquat<T, P> y2(y); //BUG!!! tquat<T> y2;
+		if(fCos < static_cast<T>(0))
+		{
+			y2 = -y;
+			fCos = -fCos;
+		}
+
+		//if(fCos > 1.0f) // problem
+		T k0, k1;
+		if(fCos > (static_cast<T>(1) - epsilon<T>()))
+		{
+			k0 = static_cast<T>(1) - a;
+			k1 = static_cast<T>(0) + a; //BUG!!! 1.0f + a;
+		}
+		else
+		{
+			T fSin = sqrt(T(1) - fCos * fCos);
+			T fAngle = atan(fSin, fCos);
+			T fOneOverSin = static_cast<T>(1) / fSin;
+			k0 = sin((static_cast<T>(1) - a) * fAngle) * fOneOverSin;
+			k1 = sin((static_cast<T>(0) + a) * fAngle) * fOneOverSin;
+		}
+
+		return tquat<T, P>(
+			k0 * x.w + k1 * y2.w,
+			k0 * x.x + k1 * y2.x,
+			k0 * x.y + k1 * y2.y,
+			k0 * x.z + k1 * y2.z);
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> fastMix
+	(
+		tquat<T, P> const & x,
+		tquat<T, P> const & y,
+		T const & a
+	)
+	{
+		return glm::normalize(x * (static_cast<T>(1) - a) + (y * a));
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tquat<T, P> rotation
+	(
+		tvec3<T, P> const & orig,
+		tvec3<T, P> const & dest
+	)
+	{
+		T cosTheta = dot(orig, dest);
+		tvec3<T, P> rotationAxis;
+
+		if(cosTheta < static_cast<T>(-1) + epsilon<T>())
+		{
+			// special case when vectors in opposite directions :
+			// there is no "ideal" rotation axis
+			// So guess one; any will do as long as it's perpendicular to start
+			// This implementation favors a rotation around the Up axis (Y),
+			// since it's often what you want to do.
+			rotationAxis = cross(tvec3<T, P>(0, 0, 1), orig);
+			if(length2(rotationAxis) < epsilon<T>()) // bad luck, they were parallel, try again!
+				rotationAxis = cross(tvec3<T, P>(1, 0, 0), orig);
+
+			rotationAxis = normalize(rotationAxis);
+			return angleAxis(pi<T>(), rotationAxis);
+		}
+
+		// Implementation from Stan Melax's Game Programming Gems 1 article
+		rotationAxis = cross(orig, dest);
+
+		T s = sqrt((T(1) + cosTheta) * static_cast<T>(2));
+		T invs = static_cast<T>(1) / s;
+
+		return tquat<T, P>(
+			s * static_cast<T>(0.5f), 
+			rotationAxis.x * invs,
+			rotationAxis.y * invs,
+			rotationAxis.z * invs);
+	}
+
+}//namespace glm