Quaternions for Computer Graphics
From the reviews:“The goal of this book is to demonstrate the use of quaternions for rotating objects in three-dimensional space, a frequent requirement in computer graphics. The target audience is computer graphics developers … . Brief historical notes appear throughout. … Summing Up:  … . Upper-division undergraduates through professionals/practitioners.” (C. A. Gorini, Choice, Vol. 49 (8), April, 2012)“This is a neat little book on real and complex numbers as well as quaternions. … book is devoted to the algebra of numbers and the rest covers quaternions. The section on quaternion is spiced up with their application to 3-D rotation. Pedagogically the book is well written, it is easy to follow, even a good high school student would be able to understand … . If you are a bookworm or a book collector and like mathematical plums, this is the book for you.” (Leslie P. Piegl, Zentralblatt MATH, Vol. 1233, 2012)