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For a project, I need to learn what quaternions are, and how they are used and manipulated. All I've had in my classes on the subject is: "They are another way of using angles to keep track of orientation, but we won't be covering them here." Same in all my textbooks - they're mentioned in passing, but not covered.

Does anyone know of any good textbooks or online sites which cover the topic?

Thanks

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# I need to learn what quaternions are

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