Another note:  someone mentionned to me that an orientation they were 
incrementing might not be working.

It's important to keep in mind that (quoted from my Calculus book, which, 
by the way, only barely mentions quaternions): "quaternions do not obey the 
commutative law (that is, A * B != B * A); this was the first algebra in 
which such behavior was studied."

So the order of multiplication is important.

Basically, if you have an orientation qO and you want to increment it with 
the orientation qI, you will want to multiply them like this:

    	#declare q0 = QMultiply(qI,qO);

That will work, the other way around might yield unexpected results.

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