diff --git a/.idea/dictionaries/ricardo.xml b/.idea/dictionaries/ricardo.xml
index f1c6e3b..523d073 100644
--- a/.idea/dictionaries/ricardo.xml
+++ b/.idea/dictionaries/ricardo.xml
@@ -1,8 +1,10 @@
 <component name="ProjectDictionaryState">
   <dictionary name="ricardo">
     <words>
+      <w>quat</w>
       <w>shaders</w>
       <w>tangram</w>
+      <w>threeengine</w>
     </words>
   </dictionary>
 </component>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 50dd9e5..8183bd5 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,7 @@
     <generated>
       <config projectName="ThreeEngine" targetName="ThreeEngine" />
       <config projectName="ThreeEngine" targetName="ThreeEngineTests" />
-      <config projectName="ThreeEngine" targetName="EngineExample" />
+      <config projectName="ThreeEngine" targetName="Quaternions" />
       <config projectName="ThreeEngine" targetName="CopyConfigFiles" />
     </generated>
   </component>
@@ -16,32 +16,65 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="6f14e751-0902-47e1-a07f-fb9a4fa0058b" name="Default" comment="">
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-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/shaders/Color3D/fragment.glsl" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/shaders/Color3D/program.json" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/shaders/Color3D/vertex.glsl" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/shaders/SimpleColor/program.json" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/shaders/Wireframe/program.json" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/src/Tangram3D/Cube.cpp" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/src/Tangram3D/Cube.h" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/src/Tangram3D/Tangram3D.cpp" />
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/src/Tangram3D/Tangram3D.h" />
-      <change type="DELETED" beforePath="$PROJECT_DIR$/shaders/Tangram.json" afterPath="" />
-      <change type="DELETED" beforePath="$PROJECT_DIR$/shaders/Wireframe.json" afterPath="" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Camera.cpp" afterPath="$PROJECT_DIR$/src/Engine/Camera/Camera.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Camera.h" afterPath="$PROJECT_DIR$/src/Engine/Camera/Camera.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/LookAt.cpp" afterPath="$PROJECT_DIR$/src/Engine/Camera/LookAt.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/LookAt.h" afterPath="$PROJECT_DIR$/src/Engine/Camera/LookAt.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Ortho.cpp" afterPath="$PROJECT_DIR$/src/Engine/Camera/Ortho.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Ortho.h" afterPath="$PROJECT_DIR$/src/Engine/Camera/Ortho.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Perspective.cpp" afterPath="$PROJECT_DIR$/src/Engine/Camera/Perspective.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Camera/Perspective.h" afterPath="$PROJECT_DIR$/src/Engine/Camera/Perspective.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Debug.h" afterPath="$PROJECT_DIR$/src/Engine/Debug.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Engine.cpp" afterPath="$PROJECT_DIR$/src/Engine/Engine.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Engine.h" afterPath="$PROJECT_DIR$/src/Engine/Engine.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/IActor.h" afterPath="$PROJECT_DIR$/src/Engine/IActor.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Input.cpp" afterPath="$PROJECT_DIR$/src/Engine/Input.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Input.h" afterPath="$PROJECT_DIR$/src/Engine/Input.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Maths.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Maths.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Maths.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Maths.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix2.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix2.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix2.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix2.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix3.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix3.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Matrix3.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Matrix3.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/TMatrix.h" afterPath="$PROJECT_DIR$/src/Engine/Math/TMatrix.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector2.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector2.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector2.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector2.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector4.cpp" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector4.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Math/Vector4.h" afterPath="$PROJECT_DIR$/src/Engine/Math/Vector4.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/OpenGLUtils.h" afterPath="$PROJECT_DIR$/src/Engine/OpenGLUtils.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Shader/Shader.cpp" afterPath="$PROJECT_DIR$/src/Engine/Shader/Shader.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Shader/Shader.h" afterPath="$PROJECT_DIR$/src/Engine/Shader/Shader.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Shader/ShaderProgram.cpp" afterPath="$PROJECT_DIR$/src/Engine/Shader/ShaderProgram.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Shader/ShaderProgram.h" afterPath="$PROJECT_DIR$/src/Engine/Shader/ShaderProgram.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Parallelogram.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Parallelogram.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Parallelogram.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Parallelogram.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Square.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Square.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Square.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Square.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Tangram.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Tangram.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Tangram.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Tangram.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Triangle.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Triangle.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram/Triangle.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram/Triangle.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/CameraController.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/CameraController.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/CameraController.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/CameraController.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Cube.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Cube.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Cube.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Cube.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Parallelogram3D.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Parallelogram3D.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Parallelogram3D.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Parallelogram3D.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Tangram3D.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Tangram3D.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Tangram3D.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Tangram3D.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Triangle3D.cpp" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Triangle3D.cpp" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/Tangram3D/Triangle3D.h" afterPath="$PROJECT_DIR$/src/Examples/Tangram3D/Triangle3D.h" />
+      <change type="MOVED" beforePath="$PROJECT_DIR$/src/json.hpp" afterPath="$PROJECT_DIR$/src/Engine/json.hpp" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/dictionaries/ricardo.xml" afterPath="$PROJECT_DIR$/.idea/dictionaries/ricardo.xml" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/CMakeLists.txt" afterPath="$PROJECT_DIR$/CMakeLists.txt" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/IActor.h" afterPath="$PROJECT_DIR$/src/IActor.h" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/OpenGLUtils.h" afterPath="$PROJECT_DIR$/src/OpenGLUtils.h" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Shader/ShaderProgram.cpp" afterPath="$PROJECT_DIR$/src/Shader/ShaderProgram.cpp" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Shader/ShaderProgram.h" afterPath="$PROJECT_DIR$/src/Shader/ShaderProgram.h" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Parallelogram.cpp" afterPath="$PROJECT_DIR$/src/Tangram/Parallelogram.cpp" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Parallelogram.h" afterPath="$PROJECT_DIR$/src/Tangram/Parallelogram.h" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Square.cpp" afterPath="$PROJECT_DIR$/src/Tangram/Square.cpp" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Square.h" afterPath="$PROJECT_DIR$/src/Tangram/Square.h" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Tangram.cpp" afterPath="$PROJECT_DIR$/src/Tangram/Tangram.cpp" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Triangle.cpp" afterPath="$PROJECT_DIR$/src/Tangram/Triangle.cpp" />
-      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tangram/Triangle.h" afterPath="$PROJECT_DIR$/src/Tangram/Triangle.h" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tests/MatrixTests.h" afterPath="$PROJECT_DIR$/src/Tests/MatrixTests.h" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tests/VectorTests.h" afterPath="$PROJECT_DIR$/src/Tests/VectorTests.h" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/Tests/tests.cpp" afterPath="$PROJECT_DIR$/src/Tests/tests.cpp" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/src/main.cpp" afterPath="$PROJECT_DIR$/src/main.cpp" />
     </list>
     <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
@@ -62,165 +95,110 @@
     <favorites_list name="ThreeEngine" />
   </component>
   <component name="FileEditorManager">
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-      <split-first>
-        <splitter split-orientation="horizontal" split-proportion="0.5098641">
-          <split-first>
-            <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-              <file leaf-file-name="3-Hello3dWorld.cpp" pinned="false" current-in-tab="false">
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@@ -263,15 +235,26 @@
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-          <folding>
-            <element signature="e#193#213#0" expanded="false" />
-          </folding>
+        <state relative-caret-position="140">
+          <caret line="7" column="9" lean-forward="false" selection-start-line="7" selection-start-column="9" selection-end-line="7" selection-end-column="9" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Parallelogram.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Examples/Tangram3D/CameraController.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="448">
-          <caret line="43" column="24" lean-forward="false" selection-start-line="43" selection-start-column="24" selection-end-line="43" selection-end-column="24" />
+        <state relative-caret-position="160">
+          <caret line="8" column="20" lean-forward="false" selection-start-line="8" selection-start-column="20" selection-end-line="8" selection-end-column="20" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Square.h">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Camera/Ortho.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="180">
-          <caret line="9" column="22" lean-forward="false" selection-start-line="9" selection-start-column="22" selection-end-line="9" selection-end-column="22" />
+        <state relative-caret-position="160">
+          <caret line="8" column="10" lean-forward="false" selection-start-line="8" selection-start-column="10" selection-end-line="8" selection-end-column="10" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Square.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Camera/Perspective.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="100">
-          <caret line="6" column="27" lean-forward="false" selection-start-line="6" selection-start-column="27" selection-end-line="9" selection-end-column="16" />
+        <state relative-caret-position="160">
+          <caret line="8" column="9" lean-forward="false" selection-start-line="8" selection-start-column="9" selection-end-line="8" selection-end-column="9" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Triangle.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Examples/Tangram3D/Parallelogram3D.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="780">
-          <caret line="40" column="27" lean-forward="false" selection-start-line="40" selection-start-column="27" selection-end-line="40" selection-end-column="27" />
+        <state relative-caret-position="200">
+          <caret line="10" column="20" lean-forward="false" selection-start-line="10" selection-start-column="20" selection-end-line="10" selection-end-column="20" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Tangram3D.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Examples/Tangram3D/Triangle3D.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="0">
-          <caret line="48" column="48" lean-forward="false" selection-start-line="48" selection-start-column="48" selection-end-line="48" selection-end-column="48" />
+        <state relative-caret-position="200">
+          <caret line="10" column="9" lean-forward="false" selection-start-line="10" selection-start-column="9" selection-end-line="10" selection-end-column="9" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
+    <entry file="file:///usr/include/c++/7/bits/unique_ptr.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="820">
-          <caret line="41" column="51" lean-forward="false" selection-start-line="41" selection-start-column="51" selection-end-line="41" selection-end-column="51" />
+        <state relative-caret-position="396">
+          <caret line="585" column="8" lean-forward="false" selection-start-line="585" selection-start-column="8" selection-end-line="585" selection-end-column="8" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/OpenGLUtils.h">
+    <entry file="file://$PROJECT_DIR$/src/Tests/tests.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="140">
-          <caret line="7" column="9" lean-forward="true" selection-start-line="7" selection-start-column="9" selection-end-line="7" selection-end-column="9" />
+        <state relative-caret-position="280">
+          <caret line="15" column="24" lean-forward="false" selection-start-line="15" selection-start-column="24" selection-end-line="15" selection-end-column="24" />
           <folding>
-            <element signature="e#111#128#0" expanded="true" />
-            <element signature="e#387#520#0" expanded="false" />
-            <element signature="e#526#1023#0" expanded="false" />
-            <element signature="e#1029#1282#0" expanded="false" />
+            <element signature="e#213#233#0" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Triangle.h">
+    <entry file="file://$PROJECT_DIR$/src/Tests/VectorTests.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="200">
-          <caret line="10" column="36" lean-forward="false" selection-start-line="10" selection-start-column="36" selection-end-line="10" selection-end-column="36" />
+        <state relative-caret-position="180">
+          <caret line="9" column="20" lean-forward="false" selection-start-line="9" selection-start-column="20" selection-end-line="9" selection-end-column="20" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Tangram.h">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Math/Matrix.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="540">
-          <caret line="27" column="34" lean-forward="true" selection-start-line="27" selection-start-column="34" selection-end-line="27" selection-end-column="34" />
-          <folding>
-            <element signature="e#175#197#0" expanded="true" />
-          </folding>
+        <state relative-caret-position="344">
+          <caret line="22" column="37" lean-forward="false" selection-start-line="22" selection-start-column="37" selection-end-line="22" selection-end-column="37" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram/Tangram.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Math/Matrix.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="280">
-          <caret line="14" column="16" lean-forward="false" selection-start-line="14" selection-start-column="16" selection-end-line="14" selection-end-column="16" />
-          <folding>
-            <element signature="e#116#136#0" expanded="true" />
-          </folding>
+        <state relative-caret-position="320">
+          <caret line="18" column="32" lean-forward="false" selection-start-line="18" selection-start-column="32" selection-end-line="18" selection-end-column="32" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram3D/Tangram3D.h">
+    <entry file="file://$PROJECT_DIR$/src/Tests/MatrixTests.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="600">
-          <caret line="30" column="26" lean-forward="false" selection-start-line="30" selection-start-column="17" selection-end-line="30" selection-end-column="26" />
+        <state relative-caret-position="464">
+          <caret line="254" column="58" lean-forward="false" selection-start-line="254" selection-start-column="58" selection-end-line="254" selection-end-column="58" />
           <folding>
-            <element signature="e#179#201#0" expanded="true" />
+            <element signature="e#110#144#0" expanded="true" />
           </folding>
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Shader/ShaderProgram.h">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Debug.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="240">
-          <caret line="14" column="10" lean-forward="false" selection-start-line="14" selection-start-column="10" selection-end-line="14" selection-end-column="10" />
+        <state relative-caret-position="416">
+          <caret line="45" column="23" lean-forward="false" selection-start-line="45" selection-start-column="23" selection-end-line="45" selection-end-column="23" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/shaders/Color3D/program.json">
+    <entry file="file://$PROJECT_DIR$/src/4-Quaternions.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="160">
-          <caret line="8" column="10" lean-forward="false" selection-start-line="8" selection-start-column="10" selection-end-line="8" selection-end-column="10" />
+        <state relative-caret-position="736">
+          <caret line="348" column="11" lean-forward="false" selection-start-line="348" selection-start-column="11" selection-end-line="348" selection-end-column="11" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram3D/Cube.h">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Camera/LookAt.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="620">
-          <caret line="31" column="24" lean-forward="false" selection-start-line="31" selection-start-column="24" selection-end-line="31" selection-end-column="24" />
-          <folding>
-            <element signature="e#166#186#0" expanded="true" />
-          </folding>
+        <state relative-caret-position="360">
+          <caret line="18" column="24" lean-forward="false" selection-start-line="18" selection-start-column="24" selection-end-line="18" selection-end-column="24" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Shader/ShaderProgram.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Math/Matrix3.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="2280">
-          <caret line="151" column="59" lean-forward="false" selection-start-line="151" selection-start-column="59" selection-end-line="151" selection-end-column="59" />
-          <folding>
-            <element signature="e#2713#2932#0" expanded="false" />
-            <element signature="e#2938#3122#0" expanded="false" />
-            <element signature="e#3128#4008#0" expanded="false" />
-            <element signature="e#4014#4213#0" expanded="false" />
-          </folding>
+        <state relative-caret-position="1196">
+          <caret line="121" column="40" lean-forward="true" selection-start-line="121" selection-start-column="40" selection-end-line="121" selection-end-column="40" />
+          <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/shaders/Color3D/vertex.glsl">
+    <entry file="file://$PROJECT_DIR$/src/Engine/json.hpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="150">
-          <caret line="6" column="24" lean-forward="false" selection-start-line="6" selection-start-column="13" selection-end-line="6" selection-end-column="24" />
+        <state relative-caret-position="416">
+          <caret line="1786" column="52" lean-forward="false" selection-start-line="1786" selection-start-column="52" selection-end-line="1786" selection-end-column="52" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/3-Hello3dWorld.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Math/Quat.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="853">
-          <caret line="297" column="64" lean-forward="false" selection-start-line="297" selection-start-column="64" selection-end-line="298" selection-end-column="36" />
+        <state relative-caret-position="440">
+          <caret line="22" column="0" lean-forward="false" selection-start-line="22" selection-start-column="0" selection-end-line="22" selection-end-column="0" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/json.hpp">
+    <entry file="file://$PROJECT_DIR$/src/Engine/Math/Quat.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="492">
-          <caret line="824" column="0" lean-forward="false" selection-start-line="824" selection-start-column="0" selection-end-line="824" selection-end-column="0" />
+        <state relative-caret-position="760">
+          <caret line="40" column="32" lean-forward="false" selection-start-line="40" selection-start-column="32" selection-end-line="40" selection-end-column="32" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram3D/Tangram3D.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Examples/Tangram/Tangram.h">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="740">
-          <caret line="37" column="36" lean-forward="false" selection-start-line="37" selection-start-column="36" selection-end-line="37" selection-end-column="36" />
-          <folding>
-            <element signature="e#116#136#0" expanded="true" />
-          </folding>
+        <state relative-caret-position="200">
+          <caret line="10" column="16" lean-forward="false" selection-start-line="10" selection-start-column="16" selection-end-line="10" selection-end-column="16" />
+          <folding />
         </state>
       </provider>
     </entry>
     <entry file="file://$PROJECT_DIR$/src/main.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="80">
-          <caret line="4" column="19" lean-forward="false" selection-start-line="4" selection-start-column="19" selection-end-line="4" selection-end-column="19" />
+        <state relative-caret-position="100">
+          <caret line="5" column="19" lean-forward="false" selection-start-line="5" selection-start-column="19" selection-end-line="5" selection-end-column="19" />
           <folding />
         </state>
       </provider>
     </entry>
-    <entry file="file://$PROJECT_DIR$/src/Tangram3D/Cube.cpp">
+    <entry file="file://$PROJECT_DIR$/src/Examples/Tangram/Tangram.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="724">
-          <caret line="145" column="0" lean-forward="true" selection-start-line="145" selection-start-column="0" selection-end-line="145" selection-end-column="0" />
+        <state relative-caret-position="220">
+          <caret line="11" column="16" lean-forward="false" selection-start-line="11" selection-start-column="16" selection-end-line="11" selection-end-column="16" />
           <folding />
         </state>
       </provider>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index bbcac65..663acfe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,34 +21,34 @@ elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
 ENDIF ()
 
 set(SOURCE_FILES
-        src/Debug.h src/Engine.cpp src/Engine.h
-        src/json.hpp
-        src/Math/Vector.cpp src/Math/Vector.h
-        src/Math/Vector2.cpp src/Math/Vector2.h
-        src/Math/Maths.cpp src/Math/Maths.h
-        src/Math/Vector4.cpp src/Math/Vector4.h
-        src/Math/Matrix.cpp src/Math/Matrix.h
-        src/Math/TMatrix.h
-        src/Math/Matrix3.cpp src/Math/Matrix3.h
-        src/Math/Matrix2.cpp src/Math/Matrix2.h
-        src/Shader/Shader.cpp src/Shader/Shader.h
-        src/Shader/ShaderProgram.cpp src/Shader/ShaderProgram.h
-        src/OpenGLUtils.h
-        src/Tangram/Tangram.cpp src/Tangram/Tangram.h
-        src/IActor.h
-        src/Tangram/Triangle.cpp src/Tangram/Triangle.h
-        src/Tangram/Square.cpp src/Tangram/Square.h
-        src/Tangram/Parallelogram.cpp src/Tangram/Parallelogram.h
-        src/Tangram3D/Cube.cpp src/Tangram3D/Cube.h
-        src/Camera/Camera.cpp src/Camera/Camera.h
-        src/Tangram3D/Tangram3D.cpp src/Tangram3D/Tangram3D.h
-        src/Tangram3D/CameraController.cpp src/Tangram3D/CameraController.h
-        src/Input.cpp src/Input.h
-        src/Camera/LookAt.cpp src/Camera/LookAt.h
-        src/Camera/Perspective.cpp src/Camera/Perspective.h
-        src/Camera/Ortho.cpp src/Camera/Ortho.h
-        src/Tangram3D/Triangle3D.cpp src/Tangram3D/Triangle3D.h
-        src/Tangram3D/Parallelogram3D.h src/Tangram3D/Parallelogram3D.cpp)
+        src/Engine/Debug.h src/Engine/Engine.cpp src/Engine/Engine.h
+        src/Engine/json.hpp
+        src/Engine/Math/Vector.cpp src/Engine/Math/Vector.h
+        src/Engine/Math/Vector2.cpp src/Engine/Math/Vector2.h
+        src/Engine/Math/Maths.cpp src/Engine/Math/Maths.h
+        src/Engine/Math/Vector4.cpp src/Engine/Math/Vector4.h
+        src/Engine/Math/Matrix.cpp src/Engine/Math/Matrix.h
+        src/Engine/Math/TMatrix.h
+        src/Engine/Math/Matrix3.cpp src/Engine/Math/Matrix3.h
+        src/Engine/Math/Matrix2.cpp src/Engine/Math/Matrix2.h
+        src/Engine/Shader/Shader.cpp src/Engine/Shader/Shader.h
+        src/Engine/Shader/ShaderProgram.cpp src/Engine/Shader/ShaderProgram.h
+        src/Engine/OpenGLUtils.h
+        src/Examples/Tangram/Tangram.cpp src/Examples/Tangram/Tangram.h
+        src/Engine/IActor.h
+        src/Examples/Tangram/Triangle.cpp src/Examples/Tangram/Triangle.h
+        src/Examples/Tangram/Square.cpp src/Examples/Tangram/Square.h
+        src/Examples/Tangram/Parallelogram.cpp src/Examples/Tangram/Parallelogram.h
+        src/Examples/Tangram3D/Cube.cpp src/Examples/Tangram3D/Cube.h
+        src/Engine/Camera/Camera.cpp src/Engine/Camera/Camera.h
+        src/Examples/Tangram3D/Tangram3D.cpp src/Examples/Tangram3D/Tangram3D.h
+        src/Examples/Tangram3D/CameraController.cpp src/Examples/Tangram3D/CameraController.h
+        src/Engine/Input.cpp src/Engine/Input.h
+        src/Engine/Camera/LookAt.cpp src/Engine/Camera/LookAt.h
+        src/Engine/Camera/Perspective.cpp src/Engine/Camera/Perspective.h
+        src/Engine/Camera/Ortho.cpp src/Engine/Camera/Ortho.h
+        src/Examples/Tangram3D/Triangle3D.cpp src/Examples/Tangram3D/Triangle3D.h
+        src/Examples/Tangram3D/Parallelogram3D.h src/Examples/Tangram3D/Parallelogram3D.cpp src/Engine/Math/Quat.cpp src/Engine/Math/Quat.h)
 
 set(TESTS_SOURCE_FILES src/Tests/catch.hpp src/Tests/tests.cpp src/Tests/VectorTests.h src/Tests/MatrixTests.h)
 
@@ -70,12 +70,11 @@ elseif (UNIX AND NOT APPLE)
 
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wextra -pedantic -g3 -Og -Wuninitialized")
 
+    FIND_PACKAGE(OpenGL REQUIRED)
     find_package(GLUT REQUIRED)
     find_package(GLEW REQUIRED)
 
-    if (NOT (OpenGL_FOUND AND GLUT_FOUND AND GLEW_FOUND))
-        message(FATAL_ERROR "Some needed libraries were not found. Try running:\n\tsudo apt install freeglut3-dev libglew-dev libxmu-dev libxi-dev")
-    endif ()
+    message(STATUS "GLEW and FreeGlut need to be installed.\nRun:\tsudo apt install freeglut3-dev libglew-dev libxmu-dev libxi-dev")
 endif ()
 
 include_directories(${OPENGL_INCLUDE_DIRS} ${GLUT_INCLUDE_DIRS} ${GLEW_INCLUDE_DIRS})
diff --git a/src/Camera/Camera.cpp b/src/Engine/Camera/Camera.cpp
similarity index 100%
rename from src/Camera/Camera.cpp
rename to src/Engine/Camera/Camera.cpp
diff --git a/src/Camera/Camera.h b/src/Engine/Camera/Camera.h
similarity index 100%
rename from src/Camera/Camera.h
rename to src/Engine/Camera/Camera.h
diff --git a/src/Camera/LookAt.cpp b/src/Engine/Camera/LookAt.cpp
similarity index 100%
rename from src/Camera/LookAt.cpp
rename to src/Engine/Camera/LookAt.cpp
diff --git a/src/Camera/LookAt.h b/src/Engine/Camera/LookAt.h
similarity index 87%
rename from src/Camera/LookAt.h
rename to src/Engine/Camera/LookAt.h
index 440682f..cf94058 100644
--- a/src/Camera/LookAt.h
+++ b/src/Engine/Camera/LookAt.h
@@ -10,14 +10,16 @@
 
 namespace ThreeEngine {
 
-    class LookAt : public Matrix{
+    class LookAt : public Matrix {
         public:
             Vector eye, center, up, view, v, side, s, u;
 
             LookAt(Vector eye, Vector center, Vector up);
-            LookAt(Matrix other);
+
+            explicit LookAt(Matrix other);
 
             void Set(Vector eye, Vector center, Vector up);
+
             void SetM(Vector eye, Vector v, Vector s, Vector u);
     };
 
diff --git a/src/Camera/Ortho.cpp b/src/Engine/Camera/Ortho.cpp
similarity index 100%
rename from src/Camera/Ortho.cpp
rename to src/Engine/Camera/Ortho.cpp
diff --git a/src/Camera/Ortho.h b/src/Engine/Camera/Ortho.h
similarity index 100%
rename from src/Camera/Ortho.h
rename to src/Engine/Camera/Ortho.h
diff --git a/src/Camera/Perspective.cpp b/src/Engine/Camera/Perspective.cpp
similarity index 100%
rename from src/Camera/Perspective.cpp
rename to src/Engine/Camera/Perspective.cpp
diff --git a/src/Camera/Perspective.h b/src/Engine/Camera/Perspective.h
similarity index 100%
rename from src/Camera/Perspective.h
rename to src/Engine/Camera/Perspective.h
diff --git a/src/Debug.h b/src/Engine/Debug.h
similarity index 97%
rename from src/Debug.h
rename to src/Engine/Debug.h
index 6eb2cb9..9e04033 100644
--- a/src/Debug.h
+++ b/src/Engine/Debug.h
@@ -28,8 +28,8 @@ namespace ThreeEngine {
                 std::unique_ptr<char[]> formatted;
                 va_list ap;
                 while (1) {
-                    formatted.reset(
-                            new char[n]); /* Wrap the plain char array into the unique_ptr */
+                    /* Wrap the plain char array into the unique_ptr */
+                    formatted.reset(new char[n]);
 #if OS_WIN
                     strcpy_s(&formatted[0], n, fmt_str.c_str());
 #else
diff --git a/src/Engine.cpp b/src/Engine/Engine.cpp
similarity index 100%
rename from src/Engine.cpp
rename to src/Engine/Engine.cpp
diff --git a/src/Engine.h b/src/Engine/Engine.h
similarity index 100%
rename from src/Engine.h
rename to src/Engine/Engine.h
diff --git a/src/IActor.h b/src/Engine/IActor.h
similarity index 100%
rename from src/IActor.h
rename to src/Engine/IActor.h
diff --git a/src/Input.cpp b/src/Engine/Input.cpp
similarity index 100%
rename from src/Input.cpp
rename to src/Engine/Input.cpp
diff --git a/src/Input.h b/src/Engine/Input.h
similarity index 100%
rename from src/Input.h
rename to src/Engine/Input.h
diff --git a/src/Math/Maths.cpp b/src/Engine/Math/Maths.cpp
similarity index 83%
rename from src/Math/Maths.cpp
rename to src/Engine/Math/Maths.cpp
index a24f25f..3b3dfcc 100644
--- a/src/Math/Maths.cpp
+++ b/src/Engine/Math/Maths.cpp
@@ -17,4 +17,8 @@ namespace ThreeEngine {
     number Maths::ToRadians(number degrees) {
         return degrees * Maths::PI / 180.0f;
     }
+
+    number Maths::ToDegrees(number radians) {
+        return radians * 180.0f / Maths::PI;
+    }
 }
\ No newline at end of file
diff --git a/src/Math/Maths.h b/src/Engine/Math/Maths.h
similarity index 88%
rename from src/Math/Maths.h
rename to src/Engine/Math/Maths.h
index c5ba343..26d74da 100644
--- a/src/Math/Maths.h
+++ b/src/Engine/Math/Maths.h
@@ -17,11 +17,11 @@ namespace ThreeEngine {
     typedef float number;
 
     /// Epsilon is the difference between 1.0 and the next value representable by the floating-point.
-    const float Epsilon = static_cast<number>(1.0e-5);
+    const number Epsilon = 1.0e-5f;
     //const float Epsilon = std::numeric_limits<number>::epsilon();
 
     /// Units in the Last Place to take into account in a floating-point type.
-    const float ULP = 3.0f;
+    const number ULP = 3.0f;
 
     struct Maths {
             enum Axis { X, Y, Z, W };
@@ -32,6 +32,8 @@ namespace ThreeEngine {
 
             static number ToRadians(number degrees);
 
+            static number ToDegrees(number radians);
+
         private:
             Maths() = default;
     };
diff --git a/src/Math/Matrix.cpp b/src/Engine/Math/Matrix.cpp
similarity index 99%
rename from src/Math/Matrix.cpp
rename to src/Engine/Math/Matrix.cpp
index e063279..38712f9 100644
--- a/src/Math/Matrix.cpp
+++ b/src/Engine/Math/Matrix.cpp
@@ -16,7 +16,7 @@ namespace ThreeEngine {
         Reset(0.0f);
     }
 
-    Matrix::Matrix(number in) {
+    Matrix::Matrix(const number& in) {
         Reset(in);
     }
 
diff --git a/src/Math/Matrix.h b/src/Engine/Math/Matrix.h
similarity index 99%
rename from src/Math/Matrix.h
rename to src/Engine/Math/Matrix.h
index f916511..ce5436a 100644
--- a/src/Math/Matrix.h
+++ b/src/Engine/Math/Matrix.h
@@ -20,7 +20,7 @@ namespace ThreeEngine {
 
         Matrix();
 
-        explicit Matrix(number in);
+        explicit Matrix(const number& in);
 
         explicit Matrix(Matrix2 m);
 
diff --git a/src/Math/Matrix2.cpp b/src/Engine/Math/Matrix2.cpp
similarity index 100%
rename from src/Math/Matrix2.cpp
rename to src/Engine/Math/Matrix2.cpp
diff --git a/src/Math/Matrix2.h b/src/Engine/Math/Matrix2.h
similarity index 100%
rename from src/Math/Matrix2.h
rename to src/Engine/Math/Matrix2.h
diff --git a/src/Math/Matrix3.cpp b/src/Engine/Math/Matrix3.cpp
similarity index 100%
rename from src/Math/Matrix3.cpp
rename to src/Engine/Math/Matrix3.cpp
diff --git a/src/Math/Matrix3.h b/src/Engine/Math/Matrix3.h
similarity index 100%
rename from src/Math/Matrix3.h
rename to src/Engine/Math/Matrix3.h
diff --git a/src/Engine/Math/Quat.cpp b/src/Engine/Math/Quat.cpp
new file mode 100644
index 0000000..b645e6d
--- /dev/null
+++ b/src/Engine/Math/Quat.cpp
@@ -0,0 +1,204 @@
+/*
+ * File Quat.cpp in project ThreeEngine
+ * 
+ * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
+ */
+#include "Quat.h"
+
+using namespace std;
+
+namespace ThreeEngine {
+
+    Quat::Quat() = default;
+
+    Quat::~Quat() = default;
+
+    Quat::Quat(number InX, number InY, number InZ, number InW) : T(InX), X(InY), Y(InZ), Z(InW) { }
+
+    Quat::Quat(const Quat& Q) {
+        operator=(Q);
+    }
+
+    Quat& Quat::operator=(const Quat& Other) = default;
+
+    Quat::Quat(const Vector& v) : T(0), X(v.X), Y(v.Y), Z(v.Z) { }
+
+    void Quat::Clean() {
+        if (abs(T) < Epsilon) { T = 0; }
+        if (abs(X) < Epsilon) { X = 0; }
+        if (abs(Y) < Epsilon) { Y = 0; }
+        if (abs(Z) < Epsilon) { Z = 0; }
+    }
+
+    number Quat::DistSquared() const {
+        return T * T + X * X + Y * Y + Z * Z;
+    }
+
+    number Quat::Dist() const {
+        return sqrt(DistSquared());
+    }
+
+    Quat Quat::Normalize() const {
+        number s = 1 / Dist();
+        return (*this) * s;
+    }
+
+    Quat Quat::Conjugate() const {
+        return Quat(T, -X, -Y, -Z);
+    }
+
+    Quat Quat::Inverse() const {
+        return Conjugate() * (1.0f / DistSquared());
+    }
+
+    Quat Quat::operator*(const number s) const {
+        return Quat(
+                T * s,
+                X * s,
+                Y * s,
+                Z * s
+        );
+    }
+
+    Quat Quat::operator*(const Quat& q) const {
+        return Quat(
+                T * q.T - X * q.X - Y * q.Y - Z * q.Z,
+                T * q.X + X * q.T + Y * q.Z - Z * q.Y,
+                T * q.Y + Y * q.T + Z * q.X - X * q.Z,
+                T * q.Z + Z * q.T + X * q.Y - Y * q.X
+        );
+    }
+
+    Quat Quat::operator+(const Quat& q) const {
+        return Quat(
+                T + q.T,
+                X + q.X,
+                Y + q.Y,
+                Z + q.Z
+        );
+    }
+
+    Quat operator*(const number& value, const Quat& quat) {
+        return quat * value;
+    }
+
+    bool Quat::operator==(const Quat& q) const {
+        return (abs(T - q.T) < Epsilon && abs(X - q.X) < Epsilon &&
+                abs(Y - q.Y) < Epsilon && abs(q.Z - q.Z) < Epsilon);
+    }
+
+    Matrix Quat::ToMatrix() {
+
+        Quat qN = Normalize();
+
+        number xx = qN.X * qN.X;
+        number xy = qN.X * qN.Y;
+        number xz = qN.X * qN.Z;
+        number xt = qN.X * qN.T;
+        number yy = qN.Y * qN.Y;
+        number yz = qN.Y * qN.Z;
+        number yt = qN.Y * qN.T;
+        number zz = qN.Z * qN.Z;
+        number zt = qN.Z * qN.T;
+
+        return {
+                1.0f - 2.0f * (yy + zz), 2.0f * (xy - zt), 2.0f * (xz + yt), 0,
+                2.0f * (xy + zt), 1.0f - 2.0f * (xx + zz), 2.0f * (yz - xt), 0,
+                2.0f * (xz - yt), 2.0f * (yz + xt), 1.0f - 2.0f * (xx + yy), 0,
+                0, 0, 0, 1
+        };
+    }
+
+    Quat Quat::FromAngleAxis(number theta, Vector axis) {
+        Vector axisN = Vector::Normalize(axis);
+
+        Quat q;
+        number angle = Maths::ToRadians(theta);
+        q.T = cos(angle / 2.0f);
+        number s = sin(angle / 2.0f);
+        q.X = axisN.X * s;
+        q.Y = axisN.Y * s;
+        q.Z = axisN.Z * s;
+        q.Clean();
+
+        return q.Normalize();
+    }
+
+    Quat Quat::FromAngleAxis(number theta, Vector4 axis) {
+        Vector v = axis;
+        return FromAngleAxis(theta, v);
+    }
+
+    void Quat::ToAngleAxis(const Quat& q, number& theta, Vector& axis) {
+        Quat qN = q.Normalize();
+        theta = Maths::ToDegrees(2.0f * acos(qN.T));
+
+        number s = sqrt(1.0f - qN.T * qN.T);
+        if (s < Epsilon) {
+            axis.X = 1.0f;
+            axis.Y = 0.0f;
+            axis.Z = 0.0f;
+        } else {
+            axis.X = qN.X / s;
+            axis.Y = qN.Y / s;
+            axis.Z = qN.Z / s;
+        }
+    }
+
+    void Quat::ToAngleAxis(const Quat& q, number& theta, Vector4& axis) {
+        Quat qN = q.Normalize();
+        theta = Maths::ToDegrees(2.0f * acos(qN.T));
+
+        number s = sqrt(1.0f - qN.T * qN.T);
+        if (s < Epsilon) {
+            axis.X = 1.0f;
+            axis.Y = 0.0f;
+            axis.Z = 0.0f;
+            axis.W = 1.0f;
+        } else {
+            axis.X = qN.X / s;
+            axis.Y = qN.Y / s;
+            axis.Z = qN.Z / s;
+            axis.W = 1.0f;
+        }
+    }
+
+    Quat Quat::Lerp(const Quat& q0, const Quat& q1, number time) {
+        number cos_angle = q0.X * q1.X + q0.Y * q1.Y + q0.Z * q1.Z + q0.T * q1.T;
+        number t1 = (cos_angle > 0) ? time : -time;
+
+        return ((1 - time) * q0 + t1 * q1).Normalize();
+    }
+
+    Quat Quat::Slerp(const Quat& q0, const Quat& q1, number time) {
+        number angle = acos(q0.X * q1.X + q0.Y * q1.Y + q0.Z * q1.Z + q0.T * q1.T);
+        number t0 = sin((1 - time) * angle) / sin(angle);
+        number t1 = sin(time * angle) / sin(angle);
+
+        return (t0 * q0 + t1 * q1);
+    }
+
+    bool Quat::Equals(const Quat& q0, const Quat& q1) {
+        return q0 == q1;
+    }
+
+    Quat::operator std::string() {
+        return "(" + to_string(T) + ", " + to_string(X) + ", " + to_string(Y) + ", " +
+               to_string(Z) + ")";
+    }
+
+    std::string Quat::ToStringAngleAxis() {
+
+        float thetaf;
+        Vector axis_f;
+        ToAngleAxis(*this, thetaf, axis_f);
+
+        return "[ angle = " + to_string(thetaf) + " axis = " + static_cast<string>(axis_f) + " ]";
+    }
+
+    std::ostream& operator<<(std::ostream& os, const Quat& quat) {
+        os << "(" << quat.T << ", " << quat.X << ", " << quat.Y << ", " << quat.Z << ")";
+        return os;
+    }
+
+} /* namespace Divisaction */
\ No newline at end of file
diff --git a/src/Engine/Math/Quat.h b/src/Engine/Math/Quat.h
new file mode 100644
index 0000000..ebf59e1
--- /dev/null
+++ b/src/Engine/Math/Quat.h
@@ -0,0 +1,94 @@
+/*
+ * File Quat.h in project ThreeEngine
+ * 
+ * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
+ */
+#ifndef THREEENGINE_QUAT_H
+#define THREEENGINE_QUAT_H
+
+#include "Maths.h"
+#include "Vector.h"
+#include "Matrix.h"
+
+namespace ThreeEngine {
+
+    struct Quat {
+        public:
+
+            /** The quaternion's X-component. */
+            number T;
+
+            /** The quaternion's Y-component. */
+            number X;
+
+            /** The quaternion's Z-component. */
+            number Y;
+
+            /** The quaternion's W-component. */
+            number Z;
+
+            Quat();
+
+            Quat(number InX, number InY, number InZ, number InW);
+
+            /**
+             * Copy constructor.
+             *
+             * @param Q A Quaternion object to use to create new quaternion from.
+             */
+            Quat(const Quat& Q);
+
+            Quat(const Vector& v);
+
+            virtual ~Quat();
+
+            Quat& operator=(const Quat& Other);
+
+            void Clean();
+
+            number DistSquared() const;
+
+            number Dist() const;
+
+            Quat Normalize() const;
+
+            Quat Conjugate() const;
+
+            Quat Inverse() const;
+
+            Quat operator*(number s) const;
+
+            Quat operator*(const Quat& q) const;
+
+            Quat operator+(const Quat& q) const;
+
+            friend Quat operator*(const number& value, const Quat& quat);
+
+            bool operator==(const Quat& q) const;
+
+            Matrix ToMatrix();
+
+            operator std::string();
+
+            std::string ToStringAngleAxis();
+
+            friend std::ostream& operator<<(std::ostream& os, const Quat& quat);
+
+            static Quat FromAngleAxis(number theta, Vector axis);
+
+            static void ToAngleAxis(const Quat& q, number& theta, Vector& axis);
+
+            static Quat FromAngleAxis(number theta, Vector4 axis);
+
+            static void ToAngleAxis(const Quat& q, number& theta, Vector4& axis);
+
+            static Quat Lerp(const Quat& q0, const Quat& q1, number time);
+
+            static Quat Slerp(const Quat& q0, const Quat& q1, number time);
+
+            static bool Equals(const Quat& q0, const Quat& q1);
+    };
+
+} /* namespace Divisaction */
+
+#endif //THREEENGINE_QUAT_H
diff --git a/src/Math/TMatrix.h b/src/Engine/Math/TMatrix.h
similarity index 100%
rename from src/Math/TMatrix.h
rename to src/Engine/Math/TMatrix.h
diff --git a/src/Math/Vector.cpp b/src/Engine/Math/Vector.cpp
similarity index 98%
rename from src/Math/Vector.cpp
rename to src/Engine/Math/Vector.cpp
index 51bfb12..013ad2e 100644
--- a/src/Math/Vector.cpp
+++ b/src/Engine/Math/Vector.cpp
@@ -212,6 +212,12 @@ namespace ThreeEngine {
         return (std::abs(1.0f - DistSquared()) < Epsilon);
     }
 
+    Vector Vector::Normalize(Vector v) {
+        Vector vNorm = v;
+        vNorm.Normalize();
+        return vNorm;
+    }
+
     float& Vector::operator[](int Index) {
         switch (Index) {
             case 0:
diff --git a/src/Math/Vector.h b/src/Engine/Math/Vector.h
similarity index 97%
rename from src/Math/Vector.h
rename to src/Engine/Math/Vector.h
index bbf3da4..4747874 100644
--- a/src/Math/Vector.h
+++ b/src/Engine/Math/Vector.h
@@ -38,7 +38,7 @@ namespace ThreeEngine {
 
         Vector(number inX, number inY, number inZ);
 
-        Vector(const Vector2& other, number inZ = 0);
+        explicit Vector(const Vector2& other, number inZ = 0);
 
         Vector(const Vector& other);
 
@@ -292,6 +292,13 @@ namespace ThreeEngine {
          */
         bool IsNormalized() const;
 
+        /**
+         * Normalize this vector in-place if it is large enough.
+         *
+         * @return true if the vector was normalized correctly, false otherwise.
+         */
+        static Vector Normalize(Vector v);
+
         /**
          * Gets specific component of the vector.
          *
diff --git a/src/Math/Vector2.cpp b/src/Engine/Math/Vector2.cpp
similarity index 100%
rename from src/Math/Vector2.cpp
rename to src/Engine/Math/Vector2.cpp
diff --git a/src/Math/Vector2.h b/src/Engine/Math/Vector2.h
similarity index 100%
rename from src/Math/Vector2.h
rename to src/Engine/Math/Vector2.h
diff --git a/src/Math/Vector4.cpp b/src/Engine/Math/Vector4.cpp
similarity index 100%
rename from src/Math/Vector4.cpp
rename to src/Engine/Math/Vector4.cpp
diff --git a/src/Math/Vector4.h b/src/Engine/Math/Vector4.h
similarity index 100%
rename from src/Math/Vector4.h
rename to src/Engine/Math/Vector4.h
diff --git a/src/OpenGLUtils.h b/src/Engine/OpenGLUtils.h
similarity index 100%
rename from src/OpenGLUtils.h
rename to src/Engine/OpenGLUtils.h
diff --git a/src/Shader/Shader.cpp b/src/Engine/Shader/Shader.cpp
similarity index 100%
rename from src/Shader/Shader.cpp
rename to src/Engine/Shader/Shader.cpp
diff --git a/src/Shader/Shader.h b/src/Engine/Shader/Shader.h
similarity index 100%
rename from src/Shader/Shader.h
rename to src/Engine/Shader/Shader.h
diff --git a/src/Shader/ShaderProgram.cpp b/src/Engine/Shader/ShaderProgram.cpp
similarity index 100%
rename from src/Shader/ShaderProgram.cpp
rename to src/Engine/Shader/ShaderProgram.cpp
diff --git a/src/Shader/ShaderProgram.h b/src/Engine/Shader/ShaderProgram.h
similarity index 100%
rename from src/Shader/ShaderProgram.h
rename to src/Engine/Shader/ShaderProgram.h
diff --git a/src/json.hpp b/src/Engine/json.hpp
similarity index 100%
rename from src/json.hpp
rename to src/Engine/json.hpp
diff --git a/src/Tangram/Parallelogram.cpp b/src/Examples/Tangram/Parallelogram.cpp
similarity index 98%
rename from src/Tangram/Parallelogram.cpp
rename to src/Examples/Tangram/Parallelogram.cpp
index 27ba2d1..69eb508 100644
--- a/src/Tangram/Parallelogram.cpp
+++ b/src/Examples/Tangram/Parallelogram.cpp
@@ -4,7 +4,7 @@
  * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
  */
 #include "Parallelogram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/OpenGLUtils.h"
 
 #define VERTICES 0
 #define COLORS 1
diff --git a/src/Tangram/Parallelogram.h b/src/Examples/Tangram/Parallelogram.h
similarity index 85%
rename from src/Tangram/Parallelogram.h
rename to src/Examples/Tangram/Parallelogram.h
index 88dc0b3..5123982 100644
--- a/src/Tangram/Parallelogram.h
+++ b/src/Examples/Tangram/Parallelogram.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_PARALLELOGRAM_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram/Square.cpp b/src/Examples/Tangram/Square.cpp
similarity index 98%
rename from src/Tangram/Square.cpp
rename to src/Examples/Tangram/Square.cpp
index 5271d20..3582187 100644
--- a/src/Tangram/Square.cpp
+++ b/src/Examples/Tangram/Square.cpp
@@ -4,7 +4,7 @@
  * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
  */
 #include "Square.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/OpenGLUtils.h"
 
 #define VERTICES 0
 #define COLORS 1
diff --git a/src/Tangram/Square.h b/src/Examples/Tangram/Square.h
similarity index 84%
rename from src/Tangram/Square.h
rename to src/Examples/Tangram/Square.h
index 8289e56..c5964aa 100644
--- a/src/Tangram/Square.h
+++ b/src/Examples/Tangram/Square.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_SQUARE_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram/Tangram.cpp b/src/Examples/Tangram/Tangram.cpp
similarity index 99%
rename from src/Tangram/Tangram.cpp
rename to src/Examples/Tangram/Tangram.cpp
index db2ee48..e5173a3 100644
--- a/src/Tangram/Tangram.cpp
+++ b/src/Examples/Tangram/Tangram.cpp
@@ -5,11 +5,11 @@
  */
 #include <GL/glew.h>
 #include "Tangram.h"
-#include "../Math/Matrix.h"
+#include "../../Engine/Math/Matrix.h"
 #include "Triangle.h"
 #include "Square.h"
 #include "Parallelogram.h"
-#include "../Debug.h"
+#include "../../Engine/Debug.h"
 
 #define VERTICES 0
 #define COLORS 1
diff --git a/src/Tangram/Tangram.h b/src/Examples/Tangram/Tangram.h
similarity index 86%
rename from src/Tangram/Tangram.h
rename to src/Examples/Tangram/Tangram.h
index 8e46ff2..015759d 100644
--- a/src/Tangram/Tangram.h
+++ b/src/Examples/Tangram/Tangram.h
@@ -6,9 +6,9 @@
 #ifndef THREEENGINE_TANGRAM_H
 #define THREEENGINE_TANGRAM_H
 
-#include "../Engine.h"
-#include "../Shader/ShaderProgram.h"
-#include "../IActor.h"
+#include "../../Engine/Engine.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/IActor.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram/Triangle.cpp b/src/Examples/Tangram/Triangle.cpp
similarity index 98%
rename from src/Tangram/Triangle.cpp
rename to src/Examples/Tangram/Triangle.cpp
index 434e8ef..80b5661 100644
--- a/src/Tangram/Triangle.cpp
+++ b/src/Examples/Tangram/Triangle.cpp
@@ -4,7 +4,7 @@
  * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
  */
 #include "Triangle.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/OpenGLUtils.h"
 
 #define VERTICES 0
 #define COLORS 1
diff --git a/src/Tangram/Triangle.h b/src/Examples/Tangram/Triangle.h
similarity index 85%
rename from src/Tangram/Triangle.h
rename to src/Examples/Tangram/Triangle.h
index 9436a97..918733d 100644
--- a/src/Tangram/Triangle.h
+++ b/src/Examples/Tangram/Triangle.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_TRIANGLE_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram3D/CameraController.cpp b/src/Examples/Tangram3D/CameraController.cpp
similarity index 96%
rename from src/Tangram3D/CameraController.cpp
rename to src/Examples/Tangram3D/CameraController.cpp
index 132818b..57784a1 100644
--- a/src/Tangram3D/CameraController.cpp
+++ b/src/Examples/Tangram3D/CameraController.cpp
@@ -4,9 +4,9 @@
  * Copyright (C) Ricardo Rodrigues 2017 - All Rights Reserved
  */
 #include "CameraController.h"
-#include "../Camera/Ortho.h"
-#include "../Camera/Perspective.h"
-#include "../Camera/LookAt.h"
+#include "../../Engine/Camera/Ortho.h"
+#include "../../Engine/Camera/Perspective.h"
+#include "../../Engine/Camera/LookAt.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram3D/CameraController.h b/src/Examples/Tangram3D/CameraController.h
similarity index 95%
rename from src/Tangram3D/CameraController.h
rename to src/Examples/Tangram3D/CameraController.h
index 58872c3..a390f7f 100644
--- a/src/Tangram3D/CameraController.h
+++ b/src/Examples/Tangram3D/CameraController.h
@@ -6,7 +6,7 @@
 #ifndef THREEENGINE_CAMERACONTROLLER_H
 #define THREEENGINE_CAMERACONTROLLER_H
 
-#include "../Engine.h"
+#include "../../Engine/Engine.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram3D/Cube.cpp b/src/Examples/Tangram3D/Cube.cpp
similarity index 100%
rename from src/Tangram3D/Cube.cpp
rename to src/Examples/Tangram3D/Cube.cpp
diff --git a/src/Tangram3D/Cube.h b/src/Examples/Tangram3D/Cube.h
similarity index 84%
rename from src/Tangram3D/Cube.h
rename to src/Examples/Tangram3D/Cube.h
index aac4b8e..c8556ac 100644
--- a/src/Tangram3D/Cube.h
+++ b/src/Examples/Tangram3D/Cube.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_CUBE_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram3D/Parallelogram3D.cpp b/src/Examples/Tangram3D/Parallelogram3D.cpp
similarity index 100%
rename from src/Tangram3D/Parallelogram3D.cpp
rename to src/Examples/Tangram3D/Parallelogram3D.cpp
diff --git a/src/Tangram3D/Parallelogram3D.h b/src/Examples/Tangram3D/Parallelogram3D.h
similarity index 86%
rename from src/Tangram3D/Parallelogram3D.h
rename to src/Examples/Tangram3D/Parallelogram3D.h
index dbe2d98..6b60188 100644
--- a/src/Tangram3D/Parallelogram3D.h
+++ b/src/Examples/Tangram3D/Parallelogram3D.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_PARALLELOGRAM3D_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tangram3D/Tangram3D.cpp b/src/Examples/Tangram3D/Tangram3D.cpp
similarity index 98%
rename from src/Tangram3D/Tangram3D.cpp
rename to src/Examples/Tangram3D/Tangram3D.cpp
index 787430b..3623d25 100644
--- a/src/Tangram3D/Tangram3D.cpp
+++ b/src/Examples/Tangram3D/Tangram3D.cpp
@@ -5,8 +5,8 @@
  */
 #include "Tangram3D.h"
 #include "Cube.h"
-#include "../Camera/Perspective.h"
-#include "../Camera/LookAt.h"
+#include "../../Engine/Camera/Perspective.h"
+#include "../../Engine/Camera/LookAt.h"
 #include "Triangle3D.h"
 #include "Parallelogram3D.h"
 
diff --git a/src/Tangram3D/Tangram3D.h b/src/Examples/Tangram3D/Tangram3D.h
similarity index 86%
rename from src/Tangram3D/Tangram3D.h
rename to src/Examples/Tangram3D/Tangram3D.h
index 6a4a178..05e333f 100644
--- a/src/Tangram3D/Tangram3D.h
+++ b/src/Examples/Tangram3D/Tangram3D.h
@@ -6,9 +6,9 @@
 #ifndef THREEENGINE_TANGRAM3D_H
 #define THREEENGINE_TANGRAM3D_H
 
-#include "../Engine.h"
-#include "../Shader/ShaderProgram.h"
-#include "../IActor.h"
+#include "../../Engine/Engine.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/IActor.h"
 #include "CameraController.h"
 
 namespace ThreeEngine {
diff --git a/src/Tangram3D/Triangle3D.cpp b/src/Examples/Tangram3D/Triangle3D.cpp
similarity index 100%
rename from src/Tangram3D/Triangle3D.cpp
rename to src/Examples/Tangram3D/Triangle3D.cpp
diff --git a/src/Tangram3D/Triangle3D.h b/src/Examples/Tangram3D/Triangle3D.h
similarity index 85%
rename from src/Tangram3D/Triangle3D.h
rename to src/Examples/Tangram3D/Triangle3D.h
index 64574e2..efb3c4a 100644
--- a/src/Tangram3D/Triangle3D.h
+++ b/src/Examples/Tangram3D/Triangle3D.h
@@ -7,9 +7,9 @@
 #define THREEENGINE_TRIANGLE3D_H
 
 #include <GL/glew.h>
-#include "../IActor.h"
-#include "../Shader/ShaderProgram.h"
-#include "../OpenGLUtils.h"
+#include "../../Engine/IActor.h"
+#include "../../Engine/Shader/ShaderProgram.h"
+#include "../../Engine/OpenGLUtils.h"
 
 namespace ThreeEngine {
 
diff --git a/src/Tests/MatrixTests.h b/src/Tests/MatrixTests.h
index 2282495..91912e6 100644
--- a/src/Tests/MatrixTests.h
+++ b/src/Tests/MatrixTests.h
@@ -5,10 +5,10 @@
 #ifndef THREEENGINE_MATRIXTESTS_H
 #define THREEENGINE_MATRIXTESTS_H
 
-#include "../Math/Matrix.h"
-#include "../Math/TMatrix.h"
-#include "../Math/Matrix3.h"
-#include "../Math/Matrix2.h"
+#include "../Engine/Math/Matrix.h"
+#include "../Engine/Math/TMatrix.h"
+#include "../Engine/Math/Matrix3.h"
+#include "../Engine/Math/Matrix2.h"
 
 SCENARIO("matrix arithmetic testing", "[matrix]") {
 
@@ -245,14 +245,14 @@ SCENARIO("matrix arithmetic testing", "[matrix]") {
             THEN("vector +-*/ number") {
 
                 CHECK((m + 1.0f) == Matrix(2));
-                CHECK((m - 1.0f) == Matrix(0));
+                CHECK((m - 1.0f) == Matrix((const number) 0));
                 CHECK((m * 2.0f) == Matrix(2));
                 CHECK((m / 2.0f) == Matrix(.5f));
             }
 
             THEN("number +-*/ vector") {
                 CHECK((1.0f + m) == Matrix(2));
-                CHECK((1.0f - m) == Matrix(0));
+                CHECK((1.0f - m) == Matrix((const number) 0));
                 CHECK((2.0f * m) == Matrix(2));
                 CHECK((2.0f / m) == Matrix(2));
             }
diff --git a/src/Tests/VectorTests.h b/src/Tests/VectorTests.h
index 265ef41..131c332 100644
--- a/src/Tests/VectorTests.h
+++ b/src/Tests/VectorTests.h
@@ -5,10 +5,10 @@
 #ifndef THREEENGINE_VECTORTESTS_H
 #define THREEENGINE_VECTORTESTS_H
 
-#include "../Math/Vector.h"
-#include "../Math/Vector2.h"
+#include "../Engine/Math/Vector.h"
+#include "../Engine/Math/Vector2.h"
+#include "../Engine/Math/Vector4.h"
 #include "catch.hpp"
-#include "../Math/Vector4.h"
 
 SCENARIO("vectors arithmetic testing", "[vector]") {
 
diff --git a/src/Tests/tests.cpp b/src/Tests/tests.cpp
index 0a0950e..e6cc583 100644
--- a/src/Tests/tests.cpp
+++ b/src/Tests/tests.cpp
@@ -7,7 +7,7 @@
 #define CATCH_CONFIG_MAIN  // This tells Catch to provide a main() - only do this in one cpp file
 #include "catch.hpp"
 
-#include "../Math/Maths.h"
+#include "../Engine/Math/Maths.h"
 
 // this assures that all the tests in the .h files are using the 3Engine namespace
 using namespace ThreeEngine;
diff --git a/src/main.cpp b/src/main.cpp
index 5392b67..3d72c47 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -3,7 +3,8 @@
 //
 
 #include <iostream>
-#include "Tangram3D/Tangram3D.h"
+#include "Examples/Tangram3D/Tangram3D.h"
+#include "Engine/Math/Quat.h"
 
 using namespace ThreeEngine;
 
@@ -16,11 +17,17 @@ int main(int argc, char* argv[]) {
     srand(static_cast <unsigned> (time(0)));
 
     {
+        Quat q = Quat::FromAngleAxis(90, Vector(0, 0, 1));
+        Quat qi = q.Inverse();
+        Vector4 v = {1, 0, 0, 0};
+        Quat r = q * Quat(v) * qi;
+        Debug::Log(r);
+
         Tangram3D engine;
         engine.shapeToShow = Tangram3D::ShapeType3D::CUBE;
         engine.Init(argc, argv);
         engine.Run();
     }
-    
+
     exit(EXIT_SUCCESS);
 }
\ No newline at end of file