John A. Vince. Rotation Transforms for Computer Graphics. Springer, 2011. [doi]
@book{0026807, title = {Rotation Transforms for Computer Graphics}, author = {John A. Vince}, year = {2011}, doi = {10.1007/978-0-85729-154-7}, url = {http://dx.doi.org/10.1007/978-0-85729-154-7}, researchr = {https://researchr.org/publication/0026807}, cites = {0}, citedby = {0}, publisher = {Springer}, isbn = {978-0-85729-153-0}, }