Adjusted the comments to be more accurate.

Before I headed into the refresh of this library I wanted to write and
adjust somethings comments I had noticed.

src/quaternion.rs

@@ -17,7 +17,7 @@ use crate::vector::{EuclideanVector, Vector3};
 
 
 /// A Quaternion is a combination of a scalar and a vector
-/// of complex numbers.
+/// of imaginary units.
 ///
 ///   [S, V] = [S, Xi + Yj + Zk]
 ///
@@ -28,9 +28,9 @@ use crate::vector::{EuclideanVector, Vector3};
 ///
 /// |         |         |
 /// |:-------:|:-------:|
-/// | ij =  1 | ik = -1 |
+/// | ij =  k | ji = -k |
-/// | jk =  1 | kj = -1 |
+/// | jk =  i | kj = -i |
-/// | ki =  1 | ji = -1 |
+/// | ki =  j | ik = -j |
 #[derive(Clone, Copy)]
 pub struct Quaternion<T>
 {
@@ -274,6 +274,11 @@ impl<T> Quaternion<T> where T: Trig
    /// conjugate of this Quaternion.
    pub fn invert(&self) -> Quaternion<T>
    {
+      // This only works for unit quaternions and the normalize here is doing
+      // the heavy lifting of fixing my drift for my skeleton rotations.
+      //
+      // JTS: To reuse this code for other domains, this needs to become the
+      // conjugate divided by the magnitude squared.
       self.conjugate().normalize()
    }