Add quaternions to src/geo

Ports Cesium's axis-angle, product, rotation-matrix and heading-pitch-roll
quaternions, with rotations given as frame axes. They match Cesium bit for
bit, including heading-pitch-roll frames on the polar axis. The model
convention is documented: at heading 0 the forward axis points east.

scripts/package-boundaries.json

@@ -2360,6 +2360,7 @@
       "src/geo/ellipsoid.js",
       "src/geo/frames.js",
       "src/geo/celestial.js",
+      "src/geo/quaternion.js",
       "src/layers/flights/icons.js",
       "src/data/aircraftIconLayer.js",
       "src/data/aircraftModelLayer.js",
@@ -5122,6 +5123,7 @@
       "src/geo/ellipsoid.js",
       "src/geo/frames.js",
       "src/geo/celestial.js",
+      "src/geo/quaternion.js",
       "src/agent/worldPacket.js",
       "src/data/layerSnapshot.js",
       "src/data/feedState.js",
@@ -5144,7 +5146,8 @@
       "src/geo/vector.js",
       "src/geo/ellipsoid.js",
       "src/geo/frames.js",
-      "src/geo/celestial.js"
+      "src/geo/celestial.js",
+      "src/geo/quaternion.js"
     ],
     "external": []
   },
@@ -5166,6 +5169,7 @@
       "src/geo/ellipsoid.js",
       "src/geo/frames.js",
       "src/geo/celestial.js",
+      "src/geo/quaternion.js",
       "src/render/stub/motion.js",
       "src/render/stub/camera.js",
       "src/render/stub/geodesic.js",