An Explination of Quaternions: http://mathworld.wolfram.com/Quaternion.html

q.new(r,i,j,k) Creates a new Quaternion with real part [r] and imaginary parts [i], [j] and [k]

q.__add(a,b) Metamethod for adding two Quaternions

q.__sub(a,b) Metamethod for subtracting two Quaternions

q.__mul(a,b) Metamethod for multiplying two quaternions

q.conj(a) Quaternion Conjugation

q.magnitude(a) Gets the magnitude of a Quaternion

q.normalize(a) Normalizes a Quaternion to a magnitude of 1

q.inverse(a) Gets the (multiplicative) inverse of a Quaternion

q.rotateVQ(vector,rotQ) Rotates a 3-vector [vector] using Quaternion [rotQ]

q.toRotQ(angle, axis) Returns the Rotation Quaternion from euler parameters: axis, and rotation about that axis

q.vecToQ(vector, r) Creates a Quaternion with the imaginary part specified by [vector] and with a real part of [r]

q.getImag(a) Returns the imaginary part of a Quaternion as a 3-vector

q.serialize(a, round) Returns a string in form: "w + x + y + z". If specified, rounds to [round] amount of decimal places