John A. Vince. Quaternions for Computer Graphics, Second Edition. Springer, 2021. [doi]
@book{Vince21a, title = {Quaternions for Computer Graphics, Second Edition}, author = {John A. Vince}, year = {2021}, doi = {10.1007/978-1-4471-7509-4}, url = {https://doi.org/10.1007/978-1-4471-7509-4}, researchr = {https://researchr.org/publication/Vince21a}, cites = {0}, citedby = {0}, publisher = {Springer}, isbn = {978-1-4471-7509-4}, }