Rotation Mechanics
Rotate a 3D object properly is harder than you ever thougth. We need to implement rotations in ower library so this issue is about that.
Info:
https://www.youtube.com/watch?v=zc8b2Jo7mno
http://www.cprogramming.com/tutorial/3d/quaternions.html
All this goes in the Skeleton Branch with #2 (closed), probably in geometry.hpp.