[feature request] Quaternion as rotation & scaling

Submitted by Hauke Strasdat

Assigned to Nobody

Link to original bugzilla bug (#459)
Version: 3.1

Description

Created attachment 267
patch

While unit quaternions represent rotations in 3d, general quaternions
can be interpreted as the group of rotation and scaling. It would be nice if corresponding feature would be added to the Quaternion class.
I added a patch which contains the conversion from a general quaternion
to a matrix of rotation & scaling.

Patch 267, "patch":
quaternion_to_rotation_and_scaling.patch

Depends on

#560 #758 (closed)