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diff --git a/include/assimp/quaternion.h b/include/assimp/quaternion.h
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+/*
+Open Asset Import Library (assimp)
+----------------------------------------------------------------------
+
+Copyright (c) 2006-2024, assimp team
+
+All rights reserved.
+
+Redistribution and use of this software in source and binary forms,
+with or without modification, are permitted provided that the
+following conditions are met:
+
+* Redistributions of source code must retain the above
+  copyright notice, this list of conditions and the
+  following disclaimer.
+
+* Redistributions in binary form must reproduce the above
+  copyright notice, this list of conditions and the
+  following disclaimer in the documentation and/or other
+  materials provided with the distribution.
+
+* Neither the name of the assimp team, nor the names of its
+  contributors may be used to endorse or promote products
+  derived from this software without specific prior
+  written permission of the assimp team.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+----------------------------------------------------------------------
+*/
+
+/** @file quaternion.h
+ *  @brief Quaternion structure, including operators when compiling in C++
+ */
+#pragma once
+#ifndef AI_QUATERNION_H_INC
+#define AI_QUATERNION_H_INC
+
+#include <assimp/defs.h>
+
+#ifdef __cplusplus
+
+#ifdef __GNUC__
+#   pragma GCC system_header
+#endif
+
+// Forward declarations
+template <typename TReal> class aiVector3t;
+template <typename TReal> class aiMatrix3x3t;
+template <typename TReal> class aiMatrix4x4t;
+
+// ---------------------------------------------------------------------------
+/**
+ *  @brief  This class represents a quaternion as a 4D vector.
+ */
+template <typename TReal>
+class aiQuaterniont {
+public:
+    aiQuaterniont() AI_NO_EXCEPT : w(1.0), x(), y(), z() {}
+    aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
+        : w(pw), x(px), y(py), z(pz) {}
+
+    /**
+     *  @brief  Construct from rotation matrix. Result is undefined if the matrix is not orthonormal.
+     */
+    explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);
+
+    /** Construct from euler angles */
+    aiQuaterniont( TReal roty, TReal rotz, TReal rotx);
+
+    /** Construct from an axis-angle pair */
+    aiQuaterniont( aiVector3t<TReal> axis, TReal angle);
+
+    /** Construct from a normalized quaternion stored in a vec3 */
+    explicit aiQuaterniont( aiVector3t<TReal> normalized);
+
+    /** Returns a matrix representation of the quaternion */
+    aiMatrix3x3t<TReal> GetMatrix() const;
+
+    bool operator== (const aiQuaterniont& o) const;
+    bool operator!= (const aiQuaterniont& o) const;
+
+    // transform vector by matrix
+    aiQuaterniont& operator *= (const aiMatrix4x4t<TReal>& mat);
+
+    bool Equal(const aiQuaterniont &o, TReal epsilon = ai_epsilon) const;
+
+    /**
+     *  @brief  Will normalize the quaternion representation.
+     */
+    aiQuaterniont& Normalize();
+
+    /**
+     *  @brief  Will compute the quaternion conjugate. The result will be stored in the instance.
+     */
+    aiQuaterniont& Conjugate();
+
+    /**
+     *  @brief  Rotate a point by this quaternion
+     */
+    aiVector3t<TReal> Rotate(const aiVector3t<TReal>& in) const;
+
+    /**
+     *  @brief Multiply two quaternions
+     *  @param  two   The other quaternion.
+     *  @return The result of the multiplication.
+     */
+    aiQuaterniont operator * (const aiQuaterniont& two) const;
+
+    /**
+     * @brief Performs a spherical interpolation between two quaternions and writes the result into the third.
+     * @param pOut Target object to received the interpolated rotation.
+     * @param pStart Start rotation of the interpolation at factor == 0.
+     * @param pEnd End rotation, factor == 1.
+     * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results.
+     */
+    static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
+        const aiQuaterniont& pEnd, TReal pFactor);
+
+    //! w,x,y,z components of the quaternion
+    TReal w, x, y, z;
+} ;
+
+using aiQuaternion = aiQuaterniont<ai_real>;
+
+#else
+
+struct aiQuaternion {
+    ai_real w, x, y, z;
+};
+
+#endif
+
+#endif // AI_QUATERNION_H_INC