glm::mat4 quatToMat4(glm::quat m_q) {
    /**
      * Implement so that the we generate the correct transformation
      * matrix from the input quaternion
      */
    return glm::mat4(1 - 2*(m_q.y * m_q.y + m_q.z * m_q.z), 2*(m_q.x*m_q.y - m_q.w * m_q.z), 2*(m_q.x * m_q.z + m_q.w * m_q.y), 0.0f,
        2*(m_q.x * m_q.y + m_q.w * m_q.z), 1 - 2*(m_q.x * m_q.x + m_q.z * m_q.z), 2*(m_q.y * m_q.z - m_q.w * m_q.x), 0.0f,
        2*(m_q.x * m_q.z - m_q.w * m_q.y), 2*(m_q.y * m_q.z + m_q.w * m_q.x), 1 - 2*(m_q.x * m_q.x + m_q.y * m_q.y), 0.0f,
        0.0f, 0.0f, 0.0f, 1.0f);
}