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Quaternion References

Here are some references on quaternions. Some are mine, while others are scavenged from Usenet, e.g., replies on comp.graphics.algorithms to the frequently asked question an quaternions.

1. See my paper summarizing rotation methods, "Efficient Rotation of an Object", IEEE Transactions on Computing, Nov. 1983. It compares Euler angles, quaternions, and other methods. It shows how to optimize animation rotations using quaternions.
2. S.L. Altmann: Rotations, Quaternions, and Double Groups. OUP, 1986.
3. P. du Val: Homographies, Quaternions and Rotations. OUP, 1964.
4. P. Lounesto: Clifford Algebras and Spinors. CUP, 1997. The Chapter 5, pages 67-79, is entitled "Quaternions". Chapter 20, pp. 255-278, is on "Hypercomplex Analysis".
5. Two SIGGRAPH papers by Shoemake.
6. A library for playing the animations contained in 3DS files. The keyframming information is stored in the files and is played back by using quaternions and hermite curves. See http://www.geocities.com/SiliconValley/Bay/6525.