Matrix and Quaternion FAQ
Matrix FAQ Homepage Quaternions FAQ
covers curves, matrices, and vectors. Quaternions are covered in the Matrix FAQ.
has many articles about quaternions, type 'quaternion' into the search engine there, and select 'all forums'.
Search CPAN for Quaternions
is a great site to search for cool things such as quaternions.
Simulation of Human Body Kinematics
Bag of particles
Quaternions and Rotation Sequences : A Primer With Applications to Orbits, Aerospace and Virtual Reality