Abstract
In this chapter we show how quaternions are used to rotate vectors about an arbitrary axis. We begin by reviewing some of the history associated with quaternions, and the development of octonions.
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References
Cayley A (1848) The collected mathematical papers, vol I, p 586, note 20
Altmann SL (1986) Rotations, quaternions and double groups, p 16. Dover Publications
Vince JA (2017) Mathematics for computer graphics, 5th edn. Springer
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Vince, J. (2022). Quaternions in Space. In: Mathematics for Computer Graphics. Undergraduate Topics in Computer Science. Springer, London. https://doi.org/10.1007/978-1-4471-7520-9_12
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DOI: https://doi.org/10.1007/978-1-4471-7520-9_12
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