Quaternions and spatial rotation - Wikipedia
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Quaternions
Everything you need to know about Quaternions for Game Development – BorisTheBrave.Com
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Quaternion - Wikipedia
Quaternions as a solution to determining the angular kinematics of human movement | BMC Biomedical Engineering | Full Text
Quaternions and spatial rotation - Wikipedia
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Rotations, Orientation, and Quaternions - MATLAB & Simulink - MathWorks Italia
Concise description of why rotation quaternions use half the angle - Mathematics Stack Exchange
