added quaternion class

fixed typo

matrix now hides its major from the client

added Transform

properly using column major. NOTE: all multiplications are now done in column major order, i.e. A * B is really B * A since everything is transposed

printing matrix now prints it in column major order

removed explicit constructor from vector3

made vector3 copy constructor explicit

copy constructor takes vector4 instead of point3

forgot to make operator- const

point3 is not allowed to use operator-()

allow point3 to dot with vector3

Added Epsilon function and a project function to vector3

added unitary operator- and also made dot product not allowed on point3

matrix matrix multiplication uses SIMD